/cross_embodiment_transfer

Primary LanguagePythonApache License 2.0Apache-2.0

cross_embodiment_transfer

  1. Install packpages
pip install -r requirements.txt
  1. Install robosuite fork
git clone https://github.com/tianyudwang/robosuite
cd robosuite
pip install -e .
  1. Data generation
python3 generate_demos.py --robot Panda
python3 generate_demos.py --robot Sawyer
  1. Train source Panda robot policy
python3 train_bc.py --config configs/Reach/BC_JV.yml

Panda

  1. Alignment on target Sawyer robot
python3 train_align.py --config configs/Reach/align.JV.yml
  1. Visualize
python3 visualize.py --config configs/Sawyer/eval.yml

Sawyer