Overview

Deoxys is a modularized, real-time controller library for Franka Emika Panda to facilitate robot learning research. Deoxys is developed by Yifeng Zhu and aims to democratize basic knowledge of robot manipulation to the robot learning community through open-sourcing the controller implementation.

Here are a list of features that we identified as strengths of our library.

✔ A user-friendly Python Interface and real-time controller implementation in C++
✔ Specialized for research on closed-loop visuomotor skill learning
✔ Easy configuration of robot controllers
✔ Seamless transfer from robosuite for real-robot control

Past research

A number of projects have been boosted by Deoxys. Here is a list of publications based on Deoxys so far.

• VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposals Priors Yifeng Zhu, Abhishek Joshi, Peter Stone, Yuke Zhu

• Bottom-Up Skill Discovery from Unsegmented Demonstrations for Long-Horizon Robot Manipulation Yifeng Zhu, Peter Stone, Yuke Zhu

• Robot Learning on the Job: Human-in-the-Loop Manipulation and Learning During Deployment Huihan Liu, Soroush Nasiriany, Lance Zhang, Zhiyao Bao, Yuke Zhu

• Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Tasks Soroush Nasiriany, Huihan Liu, Yuke Zhu

• Learning and Retrieval from Prior Data for Skill-based Imitation Learning Soroush Nasiriany, Tian Gao, Ajay Mandlekar, Yuke Zhu

• Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations Zhenyu Jiang, Yifeng Zhu, Maxwell Svetlik, Kuan Fang, Yuke Zhu.

• Ditto: Building Digital Twins of Articulated Objects from Interaction Zhenyu Jiang, Cheng-Chun Hsu, Yuke Zhu

• ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation Bokui Shen, Zhenyu Jiang, Christopher Choy, Leonidas J. Guibas, Silvio Savarese, Anima Anandkumar, Yuke Zhu

Reference

If you find this repo useful for your research, please cite us through the following work:

@article{zhu2022viola,
  title={VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors},
  author={Zhu, Yifeng and Joshi, Abhishek and Stone, Peter and Zhu, Yuke},
  journal={6th Annual Conference on Robot Learning},
  year={2022}
}