This repository contains the main files from my Bachelorhesis: "Parameter Estimation with Neural Network Surrogate Gradients".
I worked with MuJoCo, and generated own datasets (see dataset_generator), and estimated the parameters afterwards using a trained surrogate for the simulators gradients (MuJoCo). In my thesis I only worked with simpler shapes, like cubes and boxspheres.
The estimation folder contains all the code, from training to parameter estimation, and also it's baseline numerical differentiation, as well as an autodiff implementation.