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|---|---|
| Object picking with imitation learning | Object picking when pose of object is randomized |
The Robo Imitate project allows you to:
- Collect data in both real and simulated environments. Learn more here
- Train a Diffusion Policy model. Learn more here
- Evaluate the trained model. Learn more here
Important
You need to have Docker installed. If you have an Nvidia GPU, you need to additionally follow this guide. Additionaly, you need to istall Isaac-Sim If you want to use simulation.
- Download our source code:
git clone https://github.com/MarijaGolubovic/robo_imitate.git && cd robo_imitate/docker- Build docker container
make build-pc run exec- Build ROS 2 packages
colcon build --symlink-install && source ./install/local_setup.bashYou can download pretrain model and aditional files from this link. Downloaded model and files you need to put inside folder imitation/outputs/train. If folder don't exist you need to create it.
Inside docker container run:
- Run ROS 2 controler
ros2 launch xarm_bringup lite6_cartesian_launch.py rviz:=false sim:=trueIf you want to vizualize robot set rviz on true. If you want to use real enviroment set sim on false.
- Open anather terminal and run docker
make exec- Run model inside docker
cd src/robo_imitate && ./imitation/inferenceInside robo_imitate directory run follow commands:
docker build --build-arg UID=$(id -u) -t imitation .docker run -v $(pwd)/imitation/:/docker/app/imitation:Z --gpus all -it -e DATA_PATH=imitation/data/2024_09_09_19_47_17.parquet -e EPOCH=10 imitationTip
If you want to run model training inside docker, run this command inside the folder src/robo_imitate. Before that, you need to build the docker (see section "Model evaluation")..
python3 ./imitation/compute_stats --path imitation/data/2024_09_09_19_47_17.parquet && python3 ./imitation/train_script --path imitation/data/2024_09_09_19_47_17.parquet --epoch 1000