Ethan K. Gordon

Switch tf.losses.mse with tf.math.squared_difference in BehavioralCloningAgent

2

When training a BC Agent with a continuous action space, I received the following warning: ``` WARNING:absl:Need to use a loss function that computes losses per sample, ex: replace losses.mean_squared_error...

Feature Request: entropy_regularization Schedule or Function

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Hello! I'm personally working with a PPOClipAgent in an environment where we want to tune the `entropy_regularization` parameter during training, either on a schedule, or with a custom function in...

Add VisualServoingVelocityExecutor class

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Adds a class built on top of the JacobianVelocityExecutor (See #605) to follow some arbitrary externally perceived transformation. This class has been tested with Unit Tests only. *** **Before creating...

Adds JacobianExecutor

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Wraps any VelocityExecutor to convert an end-effector SE(3) velocity command into joint velocity commands. Prerequisite: #602 *** **Before creating a pull request** - [x] Document new methods and classes -...

Add non-trajectory executors to Robot Class

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Previously, only a single TrajectoryExecutor was accessible from the Robot class. This PR adds the functionality to have the Robot class manage multiple executors of arbitrary type (with convenience methods...

There are a few key issues with the RosJointStateClient: https://github.com/personalrobotics/aikido/blob/master/src/control/ros/RosJointStateClient.cpp (1) There's no reason to lock the mSkeleton mutex in spin, since we don't read or write from it at...

Add planWithEndEffectorTwist

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Currently, planToEndEffectorOffset functions only perform end-effector translations. But the user may conceivably want to perform rotations as well. There is an existing PR that is closed for now, but is...

Currently, we almost exclusively use the CatkinResourceRetriever, which only accepts the `package://` schema. There are other ResourceRetrievers we can use that can accept other schemas (e.g. `file://`, `dart://`). DART has...

Currently, CatkinResourceRetriever builds up the list of packages from scratch using environment variables (e.g. CMAKE_PREFIX_PATH). This takes a while. But ROS already has a built-in way to resolve packages: https://wiki.ros.org/Packages...

XCode CI never successfully migrated to Github Actions. While this is low-priority (since all development is currently happening on Ubuntu), it should be fixed if possible.