forbiddenname/dt-alita

Code for “A Digital Twin System for Task-Replanning and Human-Robot Control of Robot Manipulation”

This paper is published in Advanced Engineering Informatics, Doi：10.1016/j.aei.2024.102570. It involves our previous works—“Multisource model-driven digital twin system of robotic assembly” (published in IEEE systems journal, Doi: 10.1109/JSYST.2019.2958874) and “Semantic Enhanced Digital Twin System for Robot-Environment Interaction Monitoring” (published in IEEE TIM, Doi:10.1109/TIM.2021.3066542)

The REI_DT file mainly introduces how to build the four-layer digital twin model for robot environment interaction, as well as information transmission strategy between physical space and digital space.

The Task _Re-Planning file contains the structure, training code, etc. of the REI task-re planning model based on the REI-DT, and also provides the re-planning dataset

The Robot_ Control file describes how to control the virtual/real robot arm through position, joint and atomic action commands (ur5 robot arm is used in Alita)