memory_of_motion

Repository containing the codes for the ICRA paper "Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion" by Lembono, T. S. and Mastalli, C. and Fernbach, P. and Mansard, N. and Calinon, S.

Notebooks description

To change the format of the data:

process_dataset.ipynb

To post-process the dataset using Crocoddyl:

conv_dataset_to_crocoddyl.ipynb

To learn the one step motion:

learn_motion_onestep.ipynb

To learn the contact sequence:

learn_contact_sequence.ipynb