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ExistentialRobotics / cross_embodiment_transfer

Apache License 2.0
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cross_embodiment_transfer

  1. Install packpages

    pip install -r requirements.txt

  2. Install robosuite fork 

    git clone https://github.com/tianyudwang/robosuite
cd robosuite
pip install -e .

  3. Data generation

    python3 generate_demos.py --robot Panda
python3 generate_demos.py --robot Sawyer

  4. 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

  2. Visualize

    python3 visualize.py --config configs/Sawyer/eval.yml

Sawyer

Acknowledgements

We gratefully acknowledge support from the Technology Innovation Program (20018112, Development of autonomous manipulation and gripping technology using imitation learning based on visual and tactile sensing) funded by the Ministry of Trade, Industry & Energy (MOTIE), Korea.