This folder contains examples of how to use Theseus for several applications:
- state_estimation_2d.py: Is an example of how to do 2D pose estimation from simulated noisy GPS and odometry sensors. In this example the noise is state dependent, and we learn the cost weight as a function of pose.
- motion_planning_2d.py: Is an example of how to set up a differentiable motion planning problem, inspired by Bhardwaj et al. 2020.
- tactile_pose_estimation.py: Is an example of how to set up learning models for tactile pose estimation, as described in Sodhi et al. 2021
These can be run from your root theseus directory by doing
python examples/state_estimation_2d.py
python examples/motion_planning_2d.py
python examples/tactile_pose_estimation.py
The motion planning and tactile estimation examples require hydra installation which you can obtain
by running.
pip install hydra-core
Any outputs generated by these scripts will be saved under examples/outputs. You can
change this directory by passing the CLI option hydra.run.dir=<your_directory>