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OSUrobotics / KinovaGrasping

This contains the simulation of a kinova robot and the code for collecting data and training both a grasp classifier and a RL agent
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Behavior cloning state dim #46

Closed jimzers closed 3 years ago

jimzers commented 3 years ago

Commands for reproducing:

  1. Shape generation
  2. Pretraining
  3. Training

1:

python main_DDPGfD.py --saving_dir variable_speed_07132021_v01 --hand_orientation normal --shapes CubeM --with_grasp_reward False --with_orientation_noise False --max_episode 100 --controller_type position-dependent --mode position-dependent

2:

python main_DDPGfD.py --saving_dir state_dim_variable_speed_07132021_v02 --hand_orientation normal --shapes CubeM --with_orientation_noise False --expert_replay_file_path "./experiments/position-dependent/no_noise/no_grasp/" --with_grasp_reward False --max_episode 100 --controller_type policy --mode pre-train --update_after 30 --eval_num 30 --state_range all_real

3:

python main_DDPGfD.py --saving_dir training_07132021_v02 --hand_orientation normal --shapes CubeM --with_orientation_noise True --expert_replay_file_path "./experiments/position-dependent/no_noise/no_grasp/" --agent_replay_buffer_path "./experiments/pre-train/state_dim_variable_speed_07132021_v02/replay_buffer/" --pretrain_policy_path "./experiments/pre-train/state_dim_variable_speed_07132021_v02/policy/pre-train_DDPGfD_kinovaGrip" --max_episode 100 --controller_type policy --update_after 6 --eval_num 5 --mode train --state_range all_real
jimzers commented 3 years ago

tested on evaluation / training

jimzers commented 3 years ago

@nigelswenson fixed

jimzers commented 3 years ago

amen