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

Regarding any questions, please contact the publication authors directly.