微信公众号:robot_learning123
分享机器人与人工智能相关的技术与最新进展,欢迎关注与交流。
原文链接:Robot Learning 框架比较
现在Robot Learning方面的学习框架(环境与算法)种类繁多,而如何选择一个合适的框架也是一件令人头疼的事情。CoRL2019有一篇文章[1]开源了一个Robot Learning Framework, PyRoboLearn(PRL), 支持多种仿真环境和几十种机器人,包含了从仿真训练到真机部署的全过程,非常值得学习借鉴,目前还在开发中,其基本特点如下:
-
OS: Ubuntu 16.04 and 18.04. Also, Windows 10, and Mac OSX but does not support all interfaces.
-
Python: 2.7, 3.5, 3.6
-
PEP8 compliant (unified code style)
-
Documented functions and classes
-
Unified framework
其中,官方文档里面有一篇文章[2]对当前常见的框架进行了总结与比较,对于初学者来说是一个不错的参考资料,有助于我们选出合适的框架。作者将框架大致分成两组: -
提供仿真环境(simulator & environment)
-
提供学习模型和算法 (learning model & algorithm)
1. Simulators
这部分首先列举出各种常见的机器人仿真器,然后对他们进行比较:
-
Gazebo-ROS
- free + open source
- C++ (Python through ROS)
- Python 3.* but Python 2.7 for some ROS packages
- Gazebo, ROS
-
Bullet/PyBullet
- Free (zlib license) + open source
- C++
- Python wrapper (Python 2.7 and 3.*)
- Bullet Github repo, and Pybullet Github repo
-
Mujoco/mujoco-py
- Not free unless student but cannot be used for research (require a License) + not open-source
- C
- Python wrapper (Python 3.5)
- Main Webpage, mujoco-py
-
Dart
- free + open-source
- C++
- Python wrapper (d