Introduction to simularion in robotics, presenting not only MuJoCo, a general purpose physics engine, aiming to facilitate research and development in robotics, biomechanics, graphics and animation, machine learning, but also its applications.
In particular, the presentation introduces:
- OpenAI Gym, a standard API for reinforcement learning, and a diverse collection of reference environments
- DeepMind dm_control, the software stack for physics-based simulation and Reinforcement Learning environments, using MuJoCo physics.
- MoCapAct, which uses motion capture (MoCap) clips to learn low-level motor skills for the "CMU Humanoid" from the dm_control package