Robot Synesthesia Codebase

This repository is a code implementation of the following paper:

Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing

Ying Yuan, Haichuan Che, Yuzhe Qin, Binghao Huang, Zhao-Heng Yin, Kang-Won Lee, Yi Wu, Soo-Chul Lim, Xiaolong Wang

International Conference on Robotics and Automation (ICRA), 2024

https://github.com/YingYuan0414/robosyn/assets/74405101/77c87802-59e7-43ac-afc1-330df13fb930

Preparation

We suggest using conda environment with python 3.8. Install Isaac Gym Preview 4 release on your laptop (should have a GPU) and server (follow the instructions on the NVIDIA's website, you need to register an account). Other required packages include pytorch3d, hydra-core, ray, tensorboard, wandb, etc. You may install them via pip.

For detailed instruction, see install.md.

Launch Training

Teacher Policy Training

(1) For training a state-based policy for double-ball rotation, run

scripts/teacher_baoding.sh 0

(2) For training a state-based policy for wheel-wrench rotation, run

scripts/teacher_cross.sh 0

(3) For training a state-based policy for three-axis rotation, run

scripts/teacher_axis.sh 0 task.env.axis=x experiment=x-axis train.params.config.user_prefix=x-axis

scripts/teacher_axis.sh 0 task.env.axis=y experiment=y-axis train.params.config.user_prefix=y-axis

scripts/teacher_axis.sh 0 task.env.axis=z experiment=z-axis train.params.config.user_prefix=z-axis

We also provide code for training PS (Rotating Without Seeing) and Visual RL baselines as follows:

(1) For PS baselines, run

scripts/teacher_baoding.sh 0 task.env.observationType=partial_stack_baoding experiment=baoding-ps train.params.config.user_prefix=baoding-ps

scripts/teacher_cross.sh 0 task.env.observationType=partial_stack experiment=wheel-wrench-ps train.params.config.user_prefix=wheel-wrench-ps

scripts/teacher_axis.sh 0 task.env.observationType=partial_stack task.env.axis=[axis] experiment=[axis]-ps train.params.config.user_prefix=[axis]-ps

(2) For Visual RL baselines, run

scripts/teacher_baoding_visrl.sh 0

scripts/teacher_cross_visrl.sh 0

scripts/teacher_axis_visrl.sh 0 task.env.axis=[axis] experiment=[axis]-visualrl train.params.config.user_prefix=[axis]-visualrl

Student Policy Training

We provide an implementation of behavior cloning here. You may also implement your own method of distillation with the task environment we provide.

Data Collection

To collect simulation rollouts of a trained teacher policy checkpoint, run

scripts/collect_baoding.sh 0 teacher_logdir=[directory/of/teacher/checkpoint] teacher_resume=[name/of/teacher/checkpoint]

scripts/collect_cross.sh 0 teacher_logdir=[directory/of/teacher/checkpoint] teacher_resume=[name/of/teacher/checkpoint]

scripts/collect_axis.sh 0 teacher_logdir=[directory/of/teacher/checkpoint] teacher_resume=[name/of/teacher/checkpoint] task.env.axis=[axis] distill.teacher_data_dir=demonstration-[axis] experiment=bc-[axis]-collect train.params.config.user_prefix=bc-[axis]-collect

Collected trajectory data will be stored in distill.teacher_data_dir, by default the directory demonstration-baoding. You may also collect data in parallel by launching more than one job with different distill.worker_id.

Behavior Cloning

We then train the student policy with collected data:

scripts/bc_baoding.sh 0 distill.teacher_data_dir=[directory/of/data]

scripts/bc_cross.sh 0 distill.teacher_data_dir=[directory/of/data]

scripts/bc_axis.sh 0 distill.teacher_data_dir=[directory/of/data] task.env.axis=[axis] distill.student_logdir=runs/student/bc-[axis] experiment=bc-[axis] train.params.config.user_prefix=bc-[axis]

To use different sensing capabilities, set distill.ablation_mode to:

• multi-modality-plus for Touch+Cam+Aug+Syn
• aug for Touch+Cam+Aug
• no-tactile for Cam+Aug
• no-pc for Touch

Citing

Please cite this work as:

@inproceedings{
    yuan2024robosyn,
    author = {Ying Yuan, Haichuan Che, Yuzhe Qin, Binghao Huang, Zhao-Heng Yin, Kang-Won Lee, Yi Wu, Soo-Chul Lim, Xiaolong Wang},
    title = {Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing},
    booktitle = {ICRA},
    year = {2024}
} 

Note if you use Rotating without Seeing in your work, please ensure you cite the following work:

@article{
      touch-dexterity,
      title          = {Rotating without Seeing: Towards In-hand Dexterity through Touch },
      author         = {Yin, Zhao-Heng and Huang, Binghao and Qin, Yuzhe and Chen, Qifeng and Wang, Xiaolong},
      journal        = {Robotics: Science and Systems},
      year           = {2023},
}