Some dependencies can be installed by
pip install -r ./requirements.txt
Our framework is implemented on Isaac Gym simulator, the version we used is Preview Release 4. You may encounter errors in installing packages, most solutions can be found in the official docs.
Install pointnet++ manually.
cd {the dir for packages}
git clone --recursive https://github.com/erikwijmans/Pointnet2_PyTorch
cd Pointnet2_PyTorch
# [IMPORTANT] comment these two lines of code:
# https://github.com/erikwijmans/Pointnet2_PyTorch/blob/master/pointnet2_ops_lib/pointnet2_ops/_ext-src/src/sampling_gpu.cu#L100-L101
pip install -r requirements.txt
pip install -e .
Finally, run the following to install other packages.
# make sure you are at the repository root directory
pip install -r requirements.txt
Google Drive Link: https://drive.google.com/file/d/16qATmRousv1vgVg3yQnahmRkPLoQ8lzG/view?usp=drive_link
Tensorboard logdir :/run
For env modify this file : cfg/task/xxxx.yaml
numEnvs : 512+
obs_type: ["oracle"]
For algo modify this file: cfg/train/sac/sac_xxxx.yaml
load_iter: when rl model saved
python3 train.py --task xxxx --algo sac --headless
For testing:
python3 train.py --task xxxx --algo sac --headless --test
For env modify this file : cfg/task/xxxx.yaml
numEnvs : 16+
obs_type: ["oracle","pointcloud","tactile"]
For algo modify this file: cfg/train/vta/vta_xxx.yaml
rl_algo: "sac" --> Choose algorithm
rl_iter: 10000 --> When RL model saved (iter)
max_iterations: 10000
python3 train.py --task xxxx --algo vta --headless
VTA test cannot run under headless model
For algo modify this file: cfg/train/vtp/vtp_xxx.yaml
sample_batch_size: 32 + (sample from replay_size * numEnvs)
replay_size: 300 + (total data: replay_size * numEnvs, each step update -> numEnvs)
lr: 0.001 --> learning rate
Other config files are the same as VTA
python3 train.py --task xxxx --algo vtp --headless
For testing:
python3 train.py --task xxxx --algo vtp --test --headless