{"id":19134340,"url":"https://github.com/um-arm-lab/focused-adaptation-dynamics","last_synced_at":"2026-06-24T07:31:24.053Z","repository":{"id":190425569,"uuid":"613545586","full_name":"UM-ARM-Lab/focused-adaptation-dynamics","owner":"UM-ARM-Lab","description":"Code accompanying Focused Adaptation of Dynamics Models for Deformable Object Manipulation","archived":false,"fork":false,"pushed_at":"2023-03-14T14:04:54.000Z","size":375889,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-11-13T07:21:50.441Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Jupyter Notebook","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/UM-ARM-Lab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2023-03-13T19:30:55.000Z","updated_at":"2023-08-12T06:04:30.000Z","dependencies_parsed_at":"2023-08-24T16:26:41.972Z","dependency_job_id":null,"html_url":"https://github.com/UM-ARM-Lab/focused-adaptation-dynamics","commit_stats":null,"previous_names":["um-arm-lab/focused-adaptation-dynamics"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/UM-ARM-Lab/focused-adaptation-dynamics","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Ffocused-adaptation-dynamics","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Ffocused-adaptation-dynamics/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Ffocused-adaptation-dynamics/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Ffocused-adaptation-dynamics/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/UM-ARM-Lab","download_url":"https://codeload.github.com/UM-ARM-Lab/focused-adaptation-dynamics/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Ffocused-adaptation-dynamics/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":34722632,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-26T15:22:16.424Z","status":"online","status_checked_at":"2026-06-24T02:00:07.484Z","response_time":106,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-09T06:26:16.416Z","updated_at":"2026-06-24T07:31:24.020Z","avatar_url":"https://github.com/UM-ARM-Lab.png","language":"Jupyter Notebook","funding_links":[],"categories":[],"sub_categories":[],"readme":"# FOCUS\n\nThis repository contains a snapshot of the code used for the paper \"Focused Adaptation of Dynamcs Models for Deformable Object Manipulation\".\n\nThe loss function shown in Equation (1) in the paper is implemented [here](https://github.com/UM-ARM-Lab/focused-adaptation-dynamics/blob/master/state_space_dynamics/src/state_space_dynamics/torch_udnn.py#L18). The hyperparameters used for experiments are in the folder `state_space_dynamics/hparams`. For example, the one used for simulated rope manipulation is [here](https://github.com/UM-ARM-Lab/focused-adaptation-dynamics/blob/master/state_space_dynamics/hparams/iterative_lowest_error_soft_online.hjson). The main scripts to run the full online learning method are in `link_bot_planning/scripts`:\n\n- [online_rope_real.py](https://github.com/UM-ARM-Lab/focused-adaptation-dynamics/blob/master/link_bot_planning/scripts/online_rope_real.py)\n- [online_rope_sim.py](https://github.com/UM-ARM-Lab/focused-adaptation-dynamics/blob/master/link_bot_planning/scripts/online_rope_sim.py)\n- [online_water_sim.py](https://github.com/UM-ARM-Lab/focused-adaptation-dynamics/blob/master/link_bot_planning/scripts/online_water_sim.py)\n\nFor rope manipulation, we use Gazebo. For water simulation, we use PyFlex.\n\n## Setup\n\nThe repository should be used as a reference impementation, as running the code requires a lot of setup, and extensive documentation is not provided. To start, clone this repo, as well as all the other UM-ARM-Lab repos you will need, such as `sdf_tools`, `arm_robots`, `arm_gazebo`, and possibly others.\n\n```\n# in the catkin workspace, inside the `src` folder\nvirtualenv --system-site-packages venv\nsource venv/bin/activate  # you will need to source the virtual environment whenever you want to run anything.\npip install torch torchvision torchaudio --extra-index-url https://download.pytorch.org/whl/cu116\npip install -r requirements.txt\nrosdep update\nrosdep install -y -r --from-paths . --ignore-src\ncd ..\ncatkin config -DOMPL_BUILD_PYBINDINGS=ON -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_BUILD_TYPE=Release --merge-devel\ncatkin build\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fum-arm-lab%2Ffocused-adaptation-dynamics","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fum-arm-lab%2Ffocused-adaptation-dynamics","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fum-arm-lab%2Ffocused-adaptation-dynamics/lists"}