The DIAMOND model: Deep recurrent neural networks for self-organising robot control

Simon C. Smith, Richard Dharmadi, Calum Imrie, Bailu Si and J. Michael Herrmann

Implementation of the DIAMOND model in the LpzRobot simulator.

The controller and simulations can be found on /ode_robots/simulations/diamond/

Follow the LpzRobots original instructions to install the simulator.

LPZRobots -- a simulator for robotic experiments

This is a 3D physics simulator that comes with a collection of algorithms, simulations, and tools developed by the Robotics Group for Self-Organization of Control.

Contributing people: Georg Martius (<georg.playfulmachines.com>), Ralf Der, Frank Hesse, Frank Güttler, Jörn Hoffmann

Former Contributors: Antonia Siegert, Marcel Kretschmann, Dominic Schneider, Claus Stadler

Documentation

see the project page: http://robot.informatik.uni-leipzig.de/software/?lang=en and the online help: http://robot.informatik.uni-leipzig.de/software/doc/html/index.html

Installation

• We have a docker file in dist_utils/docker for installing it on ubuntu (provided by Sebastian Blaes).

• There is also a "one click" installation script kindly provided by Lars Gröber: https://github.com/Larsg7/lpzrobots-install-script

• Otherwise go for the instructions http://robot.informatik.uni-leipzig.de/software/doc/html/index.html

Overview

It consists of the following directories:

• selforg : controllers together with a small framework for using them, developed in the robotic group yielding at self-organized behavior for various kinds of machines.
• ode_robots : physics simulator based on ODE (Open Dynamics Engine, see http://www.ode.org). This includes robots, obstacles, utilities, stuff for visualization with OSG (OpenSceneGraph, see http://www.openscenegraph.org) and so on.
• guilogger : application that coordinates multiple gnuplot windows and allows for an interactive display of data that is sent per pipe from another processes. (will be started from ode_robots)
• matrixvix : application for interactive display of changing matrix and vector data
• configurator : a library implementing a GUI to change the parameters interactively which is otherwise done on the console
• ga_tools : genetic algorithms framework that can be used to together with ode_robots or for independent simulations (not well maintained) program
• opende : directory with a snapshot of the open dynamics engine (release 0.11.1) renamed to ode-dbl in order to avoid conflicts with packaged single precision versions. It contains the capsule-box collision bugfix which is upstream (in svn)