DeepAI AI Chat
Log In Sign Up

Differentiable Forward Kinematics for TensorFlow 2

by   Lukas Mölschl, et al.
Leopold Franzens Universität Innsbruck

Robotic systems are often complex and depend on the integration of a large number of software components. One important component in robotic systems provides the calculation of forward kinematics, which is required by both motion-planning and perception related components. End-to-end learning systems based on deep learning require passing gradients across component boundaries.Typical software implementations of forward kinematics are not differentiable, and thus prevent the construction of gradient-based, end-to-end learning systems. In this paper we present a library compatible with ROS-URDF that computes forward kinematics while simultaneously giving access to the gradients w.r.t. joint configurations and model parameters, allowing gradient-based learning and model identification. Our Python library is based on Tensorflow 2 and is auto-differentiable. It supports calculating a large number of kinematic configurations on the GPU in parallel, yielding a considerable performance improvement compared to sequential CPU-based calculation.


page 1

page 2

page 3

page 4


pyGSL: A Graph Structure Learning Toolkit

We introduce pyGSL, a Python library that provides efficient implementat...

Differentiable Forward Projector for X-ray Computed Tomography

Data-driven deep learning has been successfully applied to various compu...

Signatory: differentiable computations of the signature and logsignature transforms, on both CPU and GPU

Signatory is a library for calculating signature and logsignature transf...

XGBoost: Scalable GPU Accelerated Learning

We describe the multi-GPU gradient boosting algorithm implemented in the...

Certifiable Robot Design Optimization using Differentiable Programming

There is a growing need for computational tools to automatically design ...

Auto-Differentiating Linear Algebra

Development systems for deep learning, such as Theano, Torch, TensorFlow...

Neural Query Language: A Knowledge Base Query Language for Tensorflow

Large knowledge bases (KBs) are useful for many AI tasks, but are diffic...