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PyTorch adaptation of Ravens - Transporter Networks

  • Original repository (in TensorFlow)

  • Original Paper: Transporter Networks: Rearranging the Visual World for Robotic Manipulation

    Project Website  •  PDF  •  Conference on Robot Learning (CoRL) 2020 Andy Zeng, Pete Florence, Jonathan Tompson, Stefan Welker, Jonathan Chien, Maria Attarian, Travis Armstrong,
    Ivan Krasin, Dan Duong, Vikas Sindhwani, Johnny Lee

Project Description

Ravens is a collection of simulated tasks in PyBullet for learning vision-based robotic manipulation, with emphasis on pick and place. It features a Gym-like API with 10 tabletop rearrangement tasks, each with (i) a scripted oracle that provides expert demonstrations (for imitation learning), and (ii) reward functions that provide partial credit (for reinforcement learning).


(a) block-insertion: pick up the L-shaped red block and place it into the L-shaped fixture.
(b) place-red-in-green: pick up the red blocks and place them into the green bowls amidst other objects.
(c) towers-of-hanoi: sequentially move disks from one tower to another—only smaller disks can be on top of larger ones.
(d) align-box-corner: pick up the randomly sized box and align one of its corners to the L-shaped marker on the tabletop.
(e) stack-block-pyramid: sequentially stack 6 blocks into a pyramid of 3-2-1 with rainbow colored ordering.
(f) palletizing-boxes: pick up homogeneous fixed-sized boxes and stack them in transposed layers on the pallet.
(g) assembling-kits: pick up different objects and arrange them on a board marked with corresponding silhouettes.
(h) packing-boxes: pick up randomly sized boxes and place them tightly into a container.
(i) manipulating-rope: rearrange a deformable rope such that it connects the two endpoints of a 3-sided square.
(j) sweeping-piles: push piles of small objects into a target goal zone marked on the tabletop.

Some tasks require generalizing to unseen objects (d,g,h), or multi-step sequencing with closed-loop feedback (c,e,f,h,i,j).

Installation

Step 1. Create a Conda environment with Python 3, then install Python packages:

make install

Or

cd ~/transporter-nets-torch
conda create --name ravens_torch python=3.7 -y
conda activate ravens_torch
pip install -r requirements.txt
python setup.py install --user

Step 2. Export environment variables in your terminal

export RAVENS_ASSETS_DIR=`pwd`/ravens_torch/environments/assets/;
export WORK=`pwd`;
export PYTHONPATH=`pwd`:$PYTHONPATH

Getting Started

Step 1. Generate training and testing data (saved locally). Note: remove --disp for headless mode.

python ravens_torch/demos.py --disp=True --task=block-insertion --mode=train --n=10
python ravens_torch/demos.py --disp=True --task=block-insertion --mode=test --n=100

You can also manually change the parameters in ravens_torch/demos.py and then run make demos in the shell (see the Makefile if needed).

To run with shared memory, open a separate terminal window and run python3 -m pybullet_utils.runServer. Then add --shared_memory flag to the command above.

Step 2. Train a model e.g., Transporter Networks model. Model checkpoints are saved to the data/checkpoints directory. Optional: you may exit training prematurely after 1000 iterations to skip to the next step.

python ravens_torch/train.py --task=block-insertion --agent=transporter --n_demos=10

Likewise for demos, you can run make train.

Step 3. Evaluate a Transporter Networks agent using the model trained for 1000 iterations. Results are saved locally into .pkl files.

python ravens_torch/test.py --disp=True --task=block-insertion --agent=transporter --n_demos=10 --n_steps=1000

Again, make test automates it.

Step 4. Plot and print results with make plot or:

python ravens_torch/plot.py --disp=True --task=block-insertion --agent=transporter --n_demos=10

Optional. Track training and validation losses with Tensorboard.

python -m tensorboard.main --logdir=logs  # Open the browser to where it tells you to.

Datasets

Download generated train and test datasets from the original authors of the paper:

wget https://storage.googleapis.com/ravens-assets/block-insertion.zip
wget https://storage.googleapis.com/ravens-assets/place-red-in-green.zip
wget https://storage.googleapis.com/ravens-assets/towers-of-hanoi.zip
wget https://storage.googleapis.com/ravens-assets/align-box-corner.zip
wget https://storage.googleapis.com/ravens-assets/stack-block-pyramid.zip
wget https://storage.googleapis.com/ravens-assets/palletizing-boxes.zip
wget https://storage.googleapis.com/ravens-assets/assembling-kits.zip
wget https://storage.googleapis.com/ravens-assets/packing-boxes.zip
wget https://storage.googleapis.com/ravens-assets/manipulating-rope.zip
wget https://storage.googleapis.com/ravens-assets/sweeping-piles.zip

The MDP formulation for each task uses transitions with the following structure:

  • Observations: raw RGB-D images and camera parameters (pose and intrinsics).
  • Actions: a primitive function (to be called by the robot) and parameters.
  • Rewards: total sum of rewards for a successful episode should be =1.
  • Info: 6D poses, sizes, and colors of objects.

Pre-Trained Models

  1. Download this archive.
  2. Extract the weights:
tar -xvf checkpoints.tar.gz
  1. Place the weights in the folder $WORK/data/checkpoints

You should now be able to run tests as in Step 3 above.

Transporter Evaluations

The following tables report success rates of Transporters trained for 40000 steps and evaluated on the 100 demos from the test set.

The cumulative rewards consists in summing the final reward of each evaluation, while the binary rewards relate to 1 if the demo was completed and 0 otherwise.

The evaluations are conducted on models trained respectively on 1, 10, 100 and 1000 demos from the train set.

These results were obtained after testing models with ravens_torch/test.py and computing the success rates with ravens_torch/read_evaluation.py.

Success rate (%) with cumulative rewards

Task 1 demo 10 demos 100 demos 1000 demos 
Align-box-corner 14 58 94 100
Assembling-kits 17.6 60 92.4 90.8
Block-insertion 98 99 100 100
Manipulating-rope 4.9 70.7 90.4 95.1
Packing-boxes 92.3 96.8 99.4 99.4
Palletizing-boxes 73.8 97.7 98.9 99.9
Place-red-in-green 54 100 99 100
Stack-block-pyramid 9.7 66.2 91.8 96.8
Sweeping-piles 97.5 99.4 99.5 99.7
Towers-of-Hanoi 60.9 92.9 99.6 100

Success rate (%) with binary rewards after 40000 training steps

Task 1 demo 10 demos 100 demos 1000 demos 
Align-box-corner 14 58 94 100
Assembling-kits 0 9 80 80
Block-insertion 98 99 100 100
Manipulating-rope 0 55 78 84
Packing-boxes 53 85 97 98
Palletizing-boxes 4 84 91 99
Place-red-in-green 45 100 99 100
Stack-block-pyramid 0 39 85 88
Sweeping-piles 66 96 97 97
Towers-of-Hanoi 47 90 99 100