Align sim with real through robot adjustments and domain randomization - Githubissues

ankile / robust-rearrangement

From Imitation to Refinement -- Residual RL for Precise Visual Assembly

https://residual-assembly.github.io/

MIT License

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Align sim with real through robot adjustments and domain randomization #8

Closed ankile closed 6 months ago

ankile commented 6 months ago

Drop the robot down to the table
Add randomization of the obstacle position
Add obstacle position to the parts_poses observation tensor
Add random initialization of the robot
Several bigger and smaller cleanups and optimizations