Add Graph Representation - Githubissues

caio-freitas / GraphDiffusionImitate

Diffusion-based graph generative policies for imitation learning in robotics tasks 🧠🤖

MIT License

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Add Graph Representation #1

Closed caio-freitas closed 11 months ago

caio-freitas commented 1 year ago

Base on

https://github.com/0aqz0/neural-retargeting/blob/main/utils/urdf2graph.py

Take a look at

https://pytorch-geometric.readthedocs.io/en/latest/get_started/colabs.html

To create a graph representation of the robots to be used for the model.

[] Add Graph Kitchen Wrapper

caio-freitas commented 1 year ago

[ ] Add Graph Kitchen Wrapper

caio-freitas commented 1 year ago

https://github.com/anindex/torch_robotics/tree/main

caio-freitas commented 1 year ago

Add position of objects in scene, in object-state. Look for https://github.com/ARISE-Initiative/robosuite/blob/master/robosuite/environments/manipulation/lift.py, in the _setup_observables there is an overall description of the objects as @sensor() functions