Code

A collection of my more useful/interesting Github repositories. A complete collection of my work can be found on Github.

BulletArm

BulletArm is a PyBullet based benchmark and learning-environment for robotic manipulation research. The development of this package was part of the work done in our ISRR 22 Paper.

The goal of this package is two fold: (1) to provide a wrapper around the PyBullet simulator to enable rapid development of robotic manipulation environments for use in robotic learning and (2) present a comprehensive benchmark for use in either open-loop or closed-loop control. This benchmark currently consists of 19 different manipulation tasks of varying difficulty. Additional information about this package can be found in either the paper or documentation.

The pacakge is avaliable at ColinKohler/BulletArm.

UR5e RL

Real world reinforcement learning environemnts designed to work with the UR5e robotic arm and a Robotiq 2F-85 Gripper. The development of this package wasa part of the work done in our Symmetric Visual Force Policy Learning paper.

Torch Utils

Collection of PyTorch modules/utils packaged for ease of use. Primarily used for rapid prototyping of new projects. Added to iteratively as I find new and interesting PyTorch tips and tricks.

Avaliable at ColinKohler/torch_utils.

Harry Potter Dungeon Crawl Clone

Dungeon crawler set in the Harry Potter universe. Heavily inspired by Dungeon Crawl Stone Soup. Very much so a work in progress at this point.

Avaliable at ColinKohler/HP-Text-Game.

Personal Webpage

Jekyll-based website using the Minimal Mistakes theme. Generates this website.

Avaliable at ColinKohler/webpage.