Learning to Map Degrees of Freedom for Assistive User Control

Towards an Adaptive DoF-Mapping Control for Assistive Robots

Code Repository for Adaptive DoF Mapping

For the publication, please see: ACM Digital Library

For the video contribution, please see: Uni-Bremen Link

This repository includes:

• the JavaScript simulation environment including simple python server
• python and ipynb files for training the adaptive controls
  • customLayers
  • custom metrics
  • dataset loading
• two datasets generated in the JS simulation
  • the datasets with square boxes follow the rule: rotate to a box, drive towards it, grasp, rotate to goal, drive forwards, open gripper, repeat
  • the datasets with square boxes follow the rule: rotate to a box, drive towards it, rotate around it to optimal position, grasp, rotate to goal, drive forwards, open gripper, repeat
• pretrained models and weights based on the datasets

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Regarding any questions, please contact the publication authors directly.