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Repo for Rapid Motor Adaptation for Robotic Manipulator Arms (link). It's still under construction.

Installation

  1. Clone the repo:
git clone --recurse-submodules https://github.com/yichao-liang/rma4rma
  1. Create a conda environment:
conda env create -f environment_copy.yml

Example code

  1. Base policy training:
python main.py -n 50 -bs 5000 -rs 2000 \
            --randomized_training --ext_disturbance --obs_noise \
            -e PickSingleYCB-v1
  1. Adaptation training:
python train_sb.py -n 50 -bs 5000 -rs 2000 \
    --randomized_training --ext_disturbance --obs_noise --use_depth_adaptation\
    -e PickSingleYCB-v1 --adaptation_training \
    --log_name PPO-ps-bs5000-rs2000-kl0.05-neps10-cr0.2-lr_scdl0-cr_scdl1-ms50-incObsN0_1 \
    --ckpt_name best_model.zip
  1. Evaluate:
python train_sb.py --eval \
    --randomized_training --ext_disturbance --obs_noise --use_depth_adaptation\
    -e PickSingleYCB-v1 --ckpt_name best_model.zip \
    --log_name PPO-ps-bs5000-rs2000-kl0.05-neps10-cr0.2-lr_scdl0-cr_scdl1-ms50-incObsN0_1_stage2_dep_1