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Engine Agnostic Gym Environments for Robotics

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What is EAGERx?

“A Python3 framework that lets you easily define OpenAI gym compatible environments that work both in simulation and the real-world.”

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What is EAGERx?

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“Graph” of Nodes

What is EAGERx?

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“Graph” of Nodes

What is EAGERx?

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“Graph” of Nodes

What is EAGERx?

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“Agnostic” Node

“Engine” Node

What is EAGERx?

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“Agnostic” Node

“Engine” Node

What is EAGERx?

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“Agnostic” Object

“Agnostic” Node

What is EAGERx?

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“Agnostic” Object

“Agnostic” Node

What is EAGERx?

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“Agnostic” Graph

“Agnostic” Node

What is EAGERx?

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Select Physics-Engine

at Runtime

What is EAGERx?

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  • Sim2Real
    • Easily Switch to Real-World

B. VAN DER HEIJDEN, J. LUIJKX - R2C LAB - COR - TU DELFT

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Easily Switch to Real-World

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  • Sim2Real
    • Easily Switch to Real-World
    • Mitigate Model Mismatch

B. VAN DER HEIJDEN, J. LUIJKX - R2C LAB - COR - TU DELFT

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Mitigate Model Mismatch

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  • Sim2Real
    • Easily Switch to Real-World
    • Mitigate Model Mismatch
    • Input-Output Synchronization

B. VAN DER HEIJDEN, J. LUIJKX - R2C LAB - COR - TU DELFT

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Input-Output Synchronization

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  • Sim2Real
    • Easily Switch to Real-World
    • Mitigate Model Mismatch
    • Input-Output Synchronization
    • Reset Routines & Safe Training

B. VAN DER HEIJDEN, J. LUIJKX - R2C LAB - COR - TU DELFT

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Reset Routines & Safe Training

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  • Sim2Real
  • User-Friendly
    • GUI

B. VAN DER HEIJDEN, J. LUIJKX - R2C LAB - COR - TU DELFT

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GUI

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  • Sim2Real
  • User-Friendly
    • GUI
    • Live-Plotting

B. VAN DER HEIJDEN, J. LUIJKX - R2C LAB - COR - TU DELFT

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Live-Plotting

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  • Sim2Real
  • User-Friendly
  • Modular

B. VAN DER HEIJDEN, J. LUIJKX - R2C LAB - COR - TU DELFT

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Modular Design

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  • Sim2Real
  • User-Friendly
  • Modular

B. VAN DER HEIJDEN, J. LUIJKX - R2C LAB - COR - TU DELFT

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Modular Design

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  • Sim2Real
  • User-Friendly
  • Modular

B. VAN DER HEIJDEN, J. LUIJKX - R2C LAB - COR - TU DELFT

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Modular Design

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  • Sim2Real
  • User-Friendly
  • Modular

B. VAN DER HEIJDEN, J. LUIJKX - R2C LAB - COR - TU DELFT

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Modular Design

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Live-Demo

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Status

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Maintainers Documentation Code stability

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Tutorials Github

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  • Jelle Luijkx (@jelledouwe)
  • Bas van der Heijden (@bheijden)

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Questions?

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Maintainers Documentation Code stability

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Tutorials Github

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  • Jelle Luijkx (@jelledouwe)
  • Bas van der Heijden (@bheijden)

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Next-up: Hands-On Session.

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https://github.com/eager-dev/eagerx_tutorials