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consensus_normflow

Code implementation of consensus-based normalizing-flow policy for learning multi-agent coordination. See paper:

Yin, H., Verginis, C. K., and Kragic, D. Consensus-based Normalizing-Flow Control: A Case Study in Learning Dual-Arm Coordination. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Kyoto, Japan.

Dependencies (Tested on)

pytorch==1.10.2

numpy==1.22.2

matplotlib==3.5.1

For policy learning and gym environments

pybullet

garage

Weights & Biases