Viewing profile — klowrey

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…

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 oth…

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 SI…

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

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.

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 buil…

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…

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, b…

We're building software for neuromorphic cameras specifically for robotics. If robots could actually understand motion in completely unconstrained situations, then both optimal con…

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 t…

Have any links you would recommend?

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…

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 …

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 ru…

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.

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 ne…

Full stack Julia for RL (and trajectory optimization)

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, t…