klowrey

16 ms·

1.
by klowrey 2y ago
Here's a (hacky) demo of MPC using MuJoCo in the browser: https://klowrey.github.io/mujoco_wasm/ I hacked it using MPPI and it only works on the cartpole model so as to not have to dwell in Javascript too long; ju
2.
by klowrey 2y ago
Vyvanse is dextroamphetamine, while Adderall and Adzenys are mixed dextro- and Levo-. While there are now generic versions of Vyvanse, they’re unlikely to be as effective until other developers work out the manufacturing kinks. However, gen
3.
by klowrey 2y ago
Combined with broadcasting its fast. Under the hood it’s doing the same thing with a vector of ints (64 bits for bitvectors) and all the bulk manipulation is handled that way so SIMD in inherent as well. Worth a shot.
4.
by klowrey 2y ago
Why not use the built in BitVector type that has specialized code for things like xor? https://docs.julialang.org/en/v1/base/arrays/#Base.BitArray
5.
by klowrey 2y ago
Woah we can’t ask for the impossible. We just want the robots to _make_ all the things that end up as garbage in the average American home.
6.
by klowrey 2y ago
https://www.youtube.com/watch?v=xNeZWP5Mx9s different configuration, but electric motors are fine if you get momentum on your side. Humans use their entire range of motion get build up velocity to jump; this is motion contr
7.
by klowrey 2y ago
Static holds. Once you pressurize the cylinder to make it move to a certain position, it can hold that position without using more energy. This makes sense for quasi-static systems but obviously is a limiting factor for dynamic robots.
8.
by klowrey 2y ago
Hydraulics shouldn't have any give, as the working fluid is considered "incompressible". Of course in the real world the tubing can expand slightly and there are friction losses, but the reason they went with hydraulics in th
9.
by klowrey 2y ago
We're building software for neuromorphic cameras specifically for robotics. If robots could actually understand motion in completely unconstrained situations, then both optimal control and modern ML techniques would easily see uplift i
10.
by klowrey 2y ago
The detail about end-effector frame is pretty critical as doing this BC with joint angles would not be tractable. You can tell there was a big shift from the RL approaches trying to do very generalizing algorithms to more recent works that
11.
by klowrey 5y ago
Have any links you would recommend?
12.
by klowrey 5y ago
I manage the MuJoCo.jl wrapper, and having the source code wont (naively) help with AD. Internally, there's a number of iterative algorithms that you wouldn't want to automatically differentiate, and if analytical derivatives were
13.
by klowrey 5y ago
There was a free license for individual users, with the non-free license applicable to those who were receiving financial support (i.e. academic / industry researchers, etc.). The individual license was very popular and heavily utilize
14.
by klowrey 5y ago
It may be frowned upon, but we communicated to our cats that meowing at the door was not acceptable by discouraging them with a vacuum cleaner. Flip the switch on the vacuum and run the cord under the door to your bed side. Upon meow, quie
15.
by klowrey 7y ago
For folks interested in Julia and RL, I've been involved in https://www.lyceum.ml/ a set of tools for continuous control problems like robotics. It's pretty quick.
16.
by klowrey 7y ago
After wrapping the Mujoco physics engine in Julia, I did a few reinforcement learning / robotics control projects, combining it with the Flux.jl library for neural nets. While I never made my research code public, https://op
17.
by klowrey 7y ago
Full stack Julia for RL (and trajectory optimization)
18.
by klowrey 9y ago
https://arxiv.org/abs/1703.02660 Disclosure: I contributed to the linked work. To do simple tasks, you don’t even need neural networks, in short. If you want to do complex tasks, training the neural net isn’t the probl