search

erwincoumans / tiny-differentiable-simulator

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.
Apache License 2.0
1.2k stars 129 forks source link

C++ ARS + CUDA sim implementation (augmented random search) #113

Closed erwincoumans closed 3 years ago

erwincoumans commented 3 years ago

…PU (from python https://github.com/erwincoumans/ars) See a video here: https://www.youtube.com/watch?v=-MfUXSAehnw&t=1s default world.num_solver_iterations = 1 default pgsiterations = 1 default urdf_parser.hpp use NullLogger fix IK IK_JAC_PINV implement neural_network.hpp get_parameters