This project explores the usage of NeuralODE to learn the dynamics of the Franka Emika Panda arm. This network is then used for shooting in MPPI for a planar pushing task. Please refer to the documentation for a more detailed explanation of this project. The introduction in particular describes the motivation for using NeuralODE. Task Demonstration:
Repository:
https://github.com/ynwalterxu/NeuralODE
Documentation:
If the embedded PDF below does not load, you can download it here.
