A Lagrange Dual Learning Framework for Solving Constrained Inverse Kinematics Tasks

Project for MIT's 6.881 Optimization for Machine Learning course, Spring 2020.

Report and Video

See report.pdf for a writeup about the project and further reading.

Setup

Dependencies

Simply run pipenv install from the top directory.

Installing Drake on Mac

Depending on your environment, you may be able to simply install Drake via pip install drake.

In my case on Mac M2, I had to install from a downloaded archive.

Note that Drake is not needed for training models, only visualization and testing.