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Rofunc 0.0.2.6 documentation - Home
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Get Started

  • Installation
  • Quick start
  • Example gallery
    • Data collection and processing
      • BoB Visualize
      • Delsys EMG Export
      • Delsys EMG Export
      • Delsys EMG Record
      • Multimodal Record
      • Multimodal data fusion
      • Optitrack Export
      • Optitrack Record
      • Optitrack Visualize
      • Xsens Export
      • Xsens Record
      • Xsens Visualize
      • ZED Export
      • ZED Record
    • Reinforcement learning class
    • Machine learning class
      • BiRP
      • FeLT
      • FeLT
      • GMR
      • TP-GMM
      • TP-GMM for bimanual setting
      • TP-GMMBi with Relative Parameterization in Control
      • TP-GMMBi with Relative Parameterization in Representation
      • TP-GMR for Tai Chi
      • Taichi
    • Planning and control methods
      • Bimanual iLQR
      • LQT
      • LQT feedback version
      • LQT with control primitives
      • LQT with control primitives and DMP
      • iLQR
      • iLQR
      • iLQR control primitive version
      • iLQR with CoM
      • iLQR with dynamics
      • iLQR with obstacle avoidance
    • Robolab
      • CURI FK transformation verification with optitrack
      • CURI forward dynamics
      • CURI forward kinematics
      • CURI inverse kinematics
      • CURI utils
      • Coordinate transform
      • Ergo manipulation
      • Ergo manipulation
      • FD from models
      • FK from models
      • IK from models
      • Jacobian from models
    • Visualab
      • Image segmentation using EfficientSAM with prompt
      • Image segmentation using SAM
      • Image segmentation using SAM with prompt
      • Part-level segmentation using SAM and VLPart with prompt
    • Simulator
      • Apply Forces and Torques On CURI
      • CURI controllers
      • CURI cube pick
      • CURI screw nut
      • Construct custom human model from Xsens data
      • LLM control a robot with pre-defined low-level motion API
      • Object Simulator and Camera Tracking
      • Tracking the trajectory by Franka
      • Tracking the trajectory by Gluon
      • Tracking the trajectory with interference by CURI
      • Tracking the trajectory with multiple rigid bodies by CURI
      • Tracking the trajectory with multiple rigid bodies by Walker
      • Tracking the trajectory with multiple rigid bodies by Walker
      • Tracking the trajectory with multiple rigid bodies by Walker
      • Visualize robots and objects
      • Visualize robots and objects
      • Visualize robots and objects

Tutorial

  • Configuration system
  • RofuncRL tutorial
  • RofuncIL tutorial
  • RofuncML tutorial
  • RofuncPC tutorial

Core Modules

  • Demonstration collection and pre-processing
    • Xsens
    • Optitrack
    • Zed
    • Delsys EMG
    • Multimodal
  • Learning from Demonstration
    • Machine learning class
      • Dynamic Movement Primitives (DMP)
      • TP-GMM
      • TP-GMR
    • RLBaseLine
      • RLBaseLine (SKRL)
      • RLBaseLine (RLlib)
      • RLBaseLine (ElegantRL)
    • Deep learning class (RofuncIL)
      • Rofunc IL
      • Behavior Cloning
      • Behavior Cloning with Zero-Shot
      • Structured-Transformer
      • Robotics Transformers-1
    • Reinforcement learning class (RofuncRL)
      • Rofunc RL
      • RofuncRL A2C (Advantage Actor-Critic)
      • RofuncRL PPO (Proximal Policy Optimization)
      • RofuncRL TD3 (Twin Delayed Deep Deterministic Policy Gradient)
      • RofuncRL SAC (Soft Actor-Critic)
      • RofuncRL CQL (Conservative Q-Learning)
      • RofuncRL BCQ (Batch-Constrained Q-Learning)
      • RofuncRL DTrans (Decision Transformer)
      • RofuncRL TD3+BC (Twin Delayed Deep Deterministic Policy Gradient with Batch-Constrained)
      • RofuncRL EDAC (Ensemble-Diversified Actor Critic)
      • RofuncRL AMP (Adversarial Motion Priors)
      • RofuncRL ASE (Adversarial Skill Embeddings)
      • RofuncRL ODTrans (Online Decision Transformer)
      • Human-Humanoid Robots Cross-Embodiment Behavior-Skill Transfer Using Decomposed Adversarial Learning from Demonstration
  • Planning and Control
    • Usage
    • Linear Quadratic Tracking (LQT)
    • LQT (feedback version)
    • LQT (control primitive version)
    • iterative Linear Quadratic Regulator (iLQR)
  • Tools
    • RoboLab
    • VisuaLab
    • DataLab
  • Robot simulator
    • Franka simulator
    • CURI simulator

API Reference

  • API Reference
    • rofunc
      • rofunc.simulator
        • rofunc.simulator.utils
        • rofunc.simulator.src
        • rofunc.simulator.qbsofthand_sim
        • rofunc.simulator.gluon_sim
        • rofunc.simulator.ikea_sim
        • rofunc.simulator.base_sim
        • rofunc.simulator.walker_sim
        • rofunc.simulator.curi_sim
        • rofunc.simulator.human_sim
        • rofunc.simulator.multirobot_sim
        • rofunc.simulator.object_sim
        • rofunc.simulator.franka_sim
        • rofunc.simulator.humanoid_sim
      • rofunc.devices
        • rofunc.devices.mmodal
        • rofunc.devices.optitrack
        • rofunc.devices.emg
        • rofunc.devices.xsens
        • rofunc.devices.zed
      • rofunc.utils
        • rofunc.utils.maniplab
        • rofunc.utils.robolab
        • rofunc.utils.visualab
        • rofunc.utils.downloader
        • rofunc.utils.datalab
        • rofunc.utils.logger
        • rofunc.utils.oslab
      • rofunc.learning
        • rofunc.learning.RofuncML
        • rofunc.learning.RofuncIL
        • rofunc.learning.utils
        • rofunc.learning.RofuncRL
        • rofunc.learning.pre_trained_models
      • rofunc.config
        • rofunc.config.utils
      • rofunc.planning_control
        • rofunc.planning_control.lqr
        • rofunc.planning_control.lqt
  • Repository
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  • Open issue
  • .rst

Learning from Demonstration

Learning from Demonstration#

Machine learning class

Machine learning methods for learning from demonstration

RLBaseLine

Reinforcement learning methods for learning from demonstration

Deep learning class (RofuncIL)

Rofunc imitation learning methods for robot learning

Reinforcement learning class (RofuncRL)

Rofunc reinforcement learning methods for robot learning

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Multimodal

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Machine learning class

By Junjia Liu

© Copyright 2025, Junjia Liu.