diff --git a/README.md b/README.md index bb4e222e0..ce10168d6 100644 --- a/README.md +++ b/README.md @@ -227,7 +227,7 @@ section of the documentation. ``` 3. BiRP: Learning Robot Generalized Bimanual Coordination using Relative Parameterization Method on Human - Demonstration ([IEEE CDC 2023](https://arxiv.org/abs/2307.05933) | [Code](./rofunc/learning/ml/tpgmm.py)) + Demonstration ([IEEE CDC 2023](https://arxiv.org/abs/2307.05933) | [Code](rofunc/learning/RofuncML/tpgmm.py)) ``` @inproceedings{liu2023birp, diff --git a/doc/img/04-1.png b/doc/img/04-1.png deleted file mode 100644 index cb05a491e..000000000 Binary files a/doc/img/04-1.png and /dev/null differ diff --git a/doc/img/04-2.png b/doc/img/04-2.png deleted file mode 100644 index 372cd5dcd..000000000 Binary files a/doc/img/04-2.png and /dev/null differ diff --git a/doc/img/UR.gif b/doc/img/UR.gif deleted file mode 100644 index 91f6e7a1d..000000000 Binary files a/doc/img/UR.gif and /dev/null differ diff --git a/doc/img/YuMi.gif b/doc/img/YuMi.gif deleted file mode 100644 index 58a11d28f..000000000 Binary files a/doc/img/YuMi.gif and /dev/null differ diff --git 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b/doc/img/task_gifs/HumanoidRunRofuncRLAMP.gif deleted file mode 100644 index 77ee865d7..000000000 Binary files a/doc/img/task_gifs/HumanoidRunRofuncRLAMP.gif and /dev/null differ diff --git a/doc/source/img/template.png b/doc/img/template.png similarity index 100% rename from doc/source/img/template.png rename to doc/img/template.png diff --git a/doc/source/devices/optitrack.md b/doc/source/devices/optitrack.md index 0c66e6a9c..964bf5573 100644 --- a/doc/source/devices/optitrack.md +++ b/doc/source/devices/optitrack.md @@ -8,7 +8,7 @@ ## Setup -![](../img/optitrack_setup.png) +![](../../img/optitrack_setup.png) diff --git a/doc/source/devices/xsens.md b/doc/source/devices/xsens.md index a5a06d8a6..c27b7e3b9 100644 --- a/doc/source/devices/xsens.md +++ b/doc/source/devices/xsens.md @@ -44,7 +44,7 @@ skeleton_data_path = '[your_path]/xsens_data/test' rf.xsens.plot_skeleton(skeleton_data_path) ``` -![](../img/Videos/dough_01.gif) +![](../../img/simulator_gif/dough_01.gif) > We also provide a batch form for saving gifs of several skeleton data in parallel. diff --git a/doc/source/index.md b/doc/source/index.md index be3f823d2..ca346ca23 100644 --- a/doc/source/index.md +++ b/doc/source/index.md @@ -121,7 +121,7 @@ If you use rofunc in a scientific publication, we would appreciate citations to ``` 3. BiRP: Learning Robot Generalized Bimanual Coordination using Relative Parameterization Method on Human - Demonstration ([IEEE CDC 2023](https://arxiv.org/abs/2307.05933) | [Code](../../rofunc/learning/ml/tpgmm.py)) + Demonstration ([IEEE CDC 2023](https://arxiv.org/abs/2307.05933) | [Code](../../rofunc/learning/RofuncML/tpgmm.py)) ``` @article{liu2023birp, diff --git a/doc/source/md_src/quickstart.md b/doc/source/md_src/quickstart.md index d51584557..df6506d54 100644 --- a/doc/source/md_src/quickstart.md +++ b/doc/source/md_src/quickstart.md @@ -14,7 +14,7 @@ from isaacgym import gymutil ### Demonstration collection -![demonstration_3](../img/demonstration_3.png) +![demonstration_3](../../img/demonstration_3.png) Two types of Tai Chi pushing hand with fixed step are defined and demonstrated by two individuals, which includes the motion of flat circles (repetition of a → b → c → a) and vertical circles (repetition of a → d → e → a). The person whose hand motions are supposed to be learned by CURI was wearing the Xsens suit and the Optitrack markers on his back for global localization while the partner was attached with two markers on both hands for trajectory recording. Starting with the initial phase a, the cycle of the confrontational pushing hand movement is separated into two phases, which are the ’Yin’ phase and the ’Yang’ phase from the perspective of one single hand. The hands of demonstrators marked by the red solid circle represent that they were in the ’Yang’ phase while the green solid circle represents the ’Yin’ phase. The directions of hand motions were indicated by the orange arrow. For instance, during the motion of a → b → c → a, the left hand of the demonstrator on the left side performs stiff to push the opponent’s hand as ’Yang’ motion and then becomes compliant to comply with the opponent’s motion with a pulling back action as ’Yin’ motion. (We declare that the individuals in this figure are both authors and they gave permission for the use of their image.) @@ -42,17 +42,17 @@ _, _, gmm_rep_l, gmm_rep_r = rf.tpgmm.bi(demos_x_l, demos_x_r, show_demo_idx=sho **Visualization of bimanual demonstration data** -![FormatFactoryPart1](../img/taichi_test1.png) +![FormatFactoryPart1](../../img/taichi_test1.png) **TP-GMM representation of bimanual demonstration data** -![taichi_test2](../img/taichi_test2.png) +![taichi_test2](../../img/taichi_test2.png) -![taichi_test3](../img/taichi_test3.png) +![taichi_test3](../../img/taichi_test3.png) **Reproduction of the bimanual trajectory** -![taichi_test4](../img/taichi_test4.png)![](../img/taichi_test5.png) +![taichi_test4](../../img/taichi_test4.png)![](../../img/taichi_test5.png) ### TP-GMR @@ -71,13 +71,13 @@ rep_r = np.vstack((gmm_rep_r[:, :7], rep_r[:, :7])) **TP-GMR representation of bimanual demonstration data** -![taichi_test8](../img/taichi_test6.png) +![taichi_test8](../../img/taichi_test6.png) -![taichi_test8](../img/taichi_test8.png) +![taichi_test8](../../img/taichi_test8.png) **Generation for connecting the start & end points and transforming them into a periodic motion** -![taichi_test4](../img/taichi_test7.png)![taichi_test4](../img/taichi_test9.png) +![taichi_test4](../../img/taichi_test7.png)![taichi_test4](../../img/taichi_test9.png) ## Planning and control @@ -117,7 +117,7 @@ rf.lqt.plot_3d_bi(x_hat_l, x_hat_r, ori=False, save=False) **Smooth trajectory interpolated by LQT** -![taichi_test11](../img/taichi_test11.png) +![taichi_test11](../../img/taichi_test11.png) ## Simulator diff --git a/doc/source/simulator/curi.md b/doc/source/simulator/curi.md index 84b703db9..e67f6e716 100644 --- a/doc/source/simulator/curi.md +++ b/doc/source/simulator/curi.md @@ -12,7 +12,7 @@ CURIsim = rf.sim.CURISim(args) CURIsim.show(visual_obs_flag=False) ``` -![](../img/Videos/curi_interactive.gif) +![](../../img/simulator_gif/curi_interactive.gif) ### Run the bimanual trajectory in the Cartesian space @@ -33,5 +33,5 @@ CURIsim = rf.sim.CURISim(args) CURIsim.run_traj(traj=[traj_l, traj_r], update_freq=0.001) ``` -![](../img/Videos/CURITaichiFlat.gif) +![](../../img/simulator_gif/CURITaichiFlat.gif) diff --git a/doc/source/simulator/franka.md b/doc/source/simulator/franka.md index c1a89327b..547794275 100644 --- a/doc/source/simulator/franka.md +++ b/doc/source/simulator/franka.md @@ -12,7 +12,7 @@ frankasim = rf.sim.FrankaSim(args) frankasim.show() ``` -![](../img/Videos/franka_interative.gif) +![](../../img/simulator_gif/franka_interative.gif) ### Run the trajectory in the Cartesian space @@ -32,4 +32,4 @@ frankasim = rf.sim.FrankaSim(args) frankasim.run_traj(traj) ``` -![](../img/Videos/FrankaTaichi.gif) \ No newline at end of file +![](../../img/simulator_gif/FrankaTaichi.gif) \ No newline at end of file diff --git a/doc/source/tutorial/customizeRL.md b/doc/source/tutorial/customizeRL.md index cd60f70ca..1625c3f4c 100644 --- a/doc/source/tutorial/customizeRL.md +++ b/doc/source/tutorial/customizeRL.md @@ -38,7 +38,7 @@ project_name/ We provide a [**RofuncRL-based repository template**](https://github.com/Skylark0924/RofuncRL-template) to generate your own repository following the RofuncRL structure by one click. -![RofuncRL-based repository template](../img/template.png) +![RofuncRL-based repository template](../../img/template.png) :::{tip} For more details about the configuration system, please refer to [Configuration System](https://rofunc.readthedocs.io/en/latest/tutorial/config_system.html). diff --git a/doc/zhihu/00Rofunc.md b/doc/zhihu/00Rofunc.md deleted file mode 100644 index f6c63bb14..000000000 --- a/doc/zhihu/00Rofunc.md +++ /dev/null @@ -1,42 +0,0 @@ -#! https://zhuanlan.zhihu.com/p/585106491 - -![](img/flyleaf.jpg) -# Rofunc：迈向高冗余人型机器人的多模态模仿学习 - - - -> 读博一周年纪念专栏 - -## 序 - -早就想开新专栏了，一直拖延到一周年零几个月。。。截至目前，旧的 RL in Robotics 专栏已累计98篇内容、5728个赞同。感谢各位对当年那个在迷雾中肆意探索的我给予的支持与鼓励，让我们缅怀一下这个即将完结的专栏： - -[RL in Robotics](https://www.zhihu.com/column/c_1188392852261134336) - -新专栏会更关注于机器人本身，尤其是更具挑战性的高冗余人型/类人型机器人的操作和行为，而不会像之前一样沉迷于某种听起来仿佛很厉害、但可能没大用的新技术。这可能也是我读博一年来的心得体会吧，总算是学会了从问题出发，而不是拿着锤子找钉子。这里就要感谢一下我导陈翡老师啦，以及一直为我提供硬核技术指导的 Sylvain Calinon 老师。 - -还有一点与之前不同的是，这次的专栏其实也是我们正在推进的开源机器人模仿学习库 `Rofunc` 的中文教程。在科研的过程中分心搞工具包开发的初衷也很简单。在深度学习领域，我们有 `torch`；在图学习领域，我们有 `DGL`；在强化学习领域，我们有 `RLlib`。为什么机器人领域就不能拥有这种易用的、普适的，且能够一览机器人任务从数据到部署全流程的工具包呢？ - -技术的本质就应该是解蔽，而不是打着科研招牌的故弄玄虚。只有机器人门槛放低，才会吸引更多志同道合的朋友投入到机器人社区的建设中，才会最终迎来那姗姗来迟的机器人革命。那么，先上 `Rofunc` 的 `Github Repository` 吧！ - -[Rofunc Github](https://github.com/Skylark0924/Rofunc) - -欢迎 **Star**，欢迎 **Issue**，欢迎 **Contributor**，欢迎一切志同道合的小伙伴！！！ - -![](img/power.jpg) - - - - -## 概览 - -机器人的模仿学习/示教学习并不是一个很新的话题，甚至读博这一年我也接触到了欧洲和美国两种不同的思想流派。像 Billard 教授和 Calinon 老师这样的欧洲研究者坚守在拖动示教以及由此衍生基于概率和流形的示教学习方法（可以参考一下 [李淼老师的回答](https://www.zhihu.com/question/265564182/answer/309412387)）。而美国呢，貌似更喜欢基于视频示教直接使用DL、RL等 NN-based 方法。这两种思路是各有优势，也是各有缺点的，优劣是需要根据具体任务来评判的。我们想做的，就是在 `Rofunc` 中同时引入这两种思路，为 peer researchers 提供一个模仿学习的 baseline 甚至是 benchmark package。 - -除了 learning 模块外，我们还有更大的野心：**提供从多模态数据采集与处理、示教学习到机器人规划与控制、以及具有多种类人机器人仿真器的全流程示教学习 pipeline。** 对于高冗余度的类人型机器人来说，从人类演示中学习 (learning from human demonstration) 是获取新的、复杂的技能最自然且便捷的解决方案。我们提供了多视角视觉（ZED camera）、人类运动学（Xsens MTw Awinda）、物体运动学（Optitrack）以及人体生物力学（Delsys sEMG）的多传感器、多模态采集与处理方案，提供了基于优化的机器人规划与控制方法，也同样提供了基于 Isaac Gym 的多种机器人（Franka, CURI, Ubetch Walker, Diablo等）仿真器。 - -![](../img/pipeline.png) - - -## 目录 - -> 持续更新中 diff --git a/doc/zhihu/img/flyleaf.jpg b/doc/zhihu/img/flyleaf.jpg deleted file mode 100644 index 55c4ba775..000000000 Binary files a/doc/zhihu/img/flyleaf.jpg and /dev/null differ diff --git a/doc/zhihu/img/power.jpg b/doc/zhihu/img/power.jpg deleted file mode 100644 index 2ee23b262..000000000 Binary files a/doc/zhihu/img/power.jpg and /dev/null differ diff --git a/examples/learning_ml/example_tpgmr.py b/examples/learning_ml/example_tpgmr.py index 69281c2a1..09be29951 100644 --- a/examples/learning_ml/example_tpgmr.py +++ b/examples/learning_ml/example_tpgmr.py @@ -35,7 +35,7 @@ # raw_demo = np.load(os.path.join(rf.utils.get_rofunc_path(), 'data/LFD_ML/RightHand.npy')) # demos_right_x = [raw_demo[500:635, :], raw_demo[635:770, :], raw_demo[770:905, :]] # -# Repr = rf.ml.TPGMRBi(demos_left_x, demos_right_x, horizon=300, plot=True) +# Repr = rf.RofuncML.TPGMRBi(demos_left_x, demos_right_x, horizon=300, plot=True) # model_l, model_r = Repr.fit() # # # Reproductions for the same situations diff --git a/examples/learning_rl/README.rst b/examples/learning_rl/README.rst index 986d05b7e..e4fd3e73c 100644 --- a/examples/learning_rl/README.rst +++ b/examples/learning_rl/README.rst @@ -248,8 +248,8 @@ The following are examples of reinforcement learning methods for robot learning. .. |CCI-gif| image:: ../../img/task_gifs/CURICabinetRofuncRLPPO.gif .. |CSG-gif1| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspSpatulaRofuncRLPPO.gif .. |CSG-gif2| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspHammerRofuncRLPPO.gif - .. |CSG-gif3| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspKnifeRofuncRLPPO.gif - .. |CSG-gif4| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspLarge_clampRofuncRLPPO.gif + .. |CSG-gif3| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspKnifeRofuncRLPPO.gif + .. |CSG-gif4| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspLarge_clampRofuncRLPPO.gif .. |CSG-gif5| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspMugRofuncRLPPO.gif .. |CSG-gif6| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspPhillips_Screw_DriverRofuncRLPPO.gif .. |CSG-gif7| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspPower_drillRofuncRLPPO.gif diff --git a/rofunc/__init__.py b/rofunc/__init__.py index 99c24d8bd..14c5e9496 100644 --- a/rofunc/__init__.py +++ b/rofunc/__init__.py @@ -18,7 +18,7 @@ from .devices import zed, xsens, optitrack, mmodal, emg from . import simulator as sim -from .learning import ml +from .learning import RofuncML from .learning import RofuncIL, RofuncRL from .planning_control import lqt, lqr from .utils import visualab, robolab, logger, oslab, maniplab @@ -26,4 +26,4 @@ from .utils.datalab import primitive, data_generator from . import config -from .learning.ml import tpgmm, gmr, tpgmr +from .learning.RofuncML import tpgmm, gmr, tpgmr diff --git a/rofunc/learning/ml/__init__.py b/rofunc/learning/RofuncML/__init__.py similarity index 100% rename from rofunc/learning/ml/__init__.py rename to rofunc/learning/RofuncML/__init__.py diff --git a/rofunc/learning/ml/gmm.py b/rofunc/learning/RofuncML/gmm.py similarity index 100% rename from rofunc/learning/ml/gmm.py rename to rofunc/learning/RofuncML/gmm.py diff --git a/rofunc/learning/ml/gmr.py b/rofunc/learning/RofuncML/gmr.py similarity index 98% rename from rofunc/learning/ml/gmr.py rename to rofunc/learning/RofuncML/gmr.py index 6b0b6e17c..1ed0303b3 100644 --- a/rofunc/learning/ml/gmr.py +++ b/rofunc/learning/RofuncML/gmr.py @@ -17,7 +17,7 @@ import numpy as np import pbdlib as pbd -from rofunc.learning.ml.gmm import GMM +from rofunc.learning.RofuncML.gmm import GMM from rofunc.utils.visualab.distribution import gmm_plot diff --git a/rofunc/learning/ml/hmm.py b/rofunc/learning/RofuncML/hmm.py similarity index 99% rename from rofunc/learning/ml/hmm.py rename to rofunc/learning/RofuncML/hmm.py index 0b87590b7..a960231bd 100644 --- a/rofunc/learning/ml/hmm.py +++ b/rofunc/learning/RofuncML/hmm.py @@ -15,7 +15,7 @@ from pbdlib.model import * -from rofunc.learning.ml.gmm import GMM +from rofunc.learning.RofuncML.gmm import GMM from rofunc.utils.logger.beauty_logger import beauty_print diff --git a/rofunc/learning/ml/tpgmm.py b/rofunc/learning/RofuncML/tpgmm.py similarity index 99% rename from rofunc/learning/ml/tpgmm.py rename to rofunc/learning/RofuncML/tpgmm.py index f399e0fc5..f99351cd0 100644 --- a/rofunc/learning/ml/tpgmm.py +++ b/rofunc/learning/RofuncML/tpgmm.py @@ -21,8 +21,8 @@ from numpy import ndarray import rofunc as rf -from rofunc.learning.ml.gmm import GMM -from rofunc.learning.ml.hmm import HMM +from rofunc.learning.RofuncML.gmm import GMM +from rofunc.learning.RofuncML.hmm import HMM from rofunc.utils.logger.beauty_logger import beauty_print diff --git a/rofunc/learning/ml/tpgmr.py b/rofunc/learning/RofuncML/tpgmr.py similarity index 99% rename from rofunc/learning/ml/tpgmr.py rename to rofunc/learning/RofuncML/tpgmr.py index 8de6406bb..c0056b6d7 100644 --- a/rofunc/learning/ml/tpgmr.py +++ b/rofunc/learning/RofuncML/tpgmr.py @@ -21,7 +21,7 @@ from scipy.linalg import block_diag import rofunc as rf -from rofunc.learning.ml.tpgmm import TPGMM +from rofunc.learning.RofuncML.tpgmm import TPGMM from rofunc.utils.logger.beauty_logger import beauty_print diff --git a/rofunc/learning/ml/tphsmm.py b/rofunc/learning/RofuncML/tphsmm.py similarity index 100% rename from rofunc/learning/ml/tphsmm.py rename to rofunc/learning/RofuncML/tphsmm.py diff --git a/rofunc/learning/ml/utils.py b/rofunc/learning/RofuncML/utils.py similarity index 100% rename from rofunc/learning/ml/utils.py rename to rofunc/learning/RofuncML/utils.py diff --git a/rofunc/learning/ml/visualize.py b/rofunc/learning/RofuncML/visualize.py similarity index 100% rename from rofunc/learning/ml/visualize.py rename to rofunc/learning/RofuncML/visualize.py diff --git a/scripts/install_w_isaacgym.sh b/scripts/install_w_isaacgym.sh index 72fbf73b7..ec9514d04 100644 --- a/scripts/install_w_isaacgym.sh +++ b/scripts/install_w_isaacgym.sh @@ -23,6 +23,19 @@ pip3rf install pip==21.3.1 # Install the requirements and rofunc pip3rf install -r requirements.txt + +# Download assets and data +cd ./rofunc/simulator/ +gdown https://drive.google.com/uc?id=1GT-rhPrg0FSzX556FVPzShHOPMt8vo8C&export=download +unzip -q assets.zip +rm assets.zip +cd ../../ +cd ./examples/ +gdown https://drive.google.com/uc?id=1pOzD61CQJcy4L2hXveT1cGiD0AkIDt_c&export=download +unzip -q data.zip +rm data.zip +cd ../ + pip3rf install . --use-deprecated=legacy-resolver diff --git a/scripts/utils/gif_watermark.sh b/scripts/utils/gif_watermark.sh index c5913e3a7..900067f1f 100644 --- a/scripts/utils/gif_watermark.sh +++ b/scripts/utils/gif_watermark.sh @@ -1,5 +1,5 @@ #!/bin/bash -FILES="/home/ubuntu/Github/Rofunc/doc/img/task_gifs3/*.gif" +FILES="/home/ubuntu/Github/Rofunc/doc/img/task_gifs/*.gif" for filename in $FILES; do echo "Processing $filename file..." ffmpeg -hide_banner -i $filename -i /home/ubuntu/Github/Rofunc/doc/img/logo/logo2_nb.png -filter_complex "[1:v][0:v]scale2ref=oh*mdar:ih/5[logo-out][video-out];[video-out][logo-out]overlay=W-w-10:H-h-10" -c:a copy /home/ubuntu/Github/Rofunc/doc/img/task_gifs/$(basename -- "$filename") -y diff --git a/setup.py b/setup.py index 1c19c861f..7767e90f9 100644 --- a/setup.py +++ b/setup.py @@ -37,7 +37,11 @@ 'gdown==5.2.0', "transformations==2022.9.26", 'gym>=0.26.2', - "numpy<=1.23.0" + "numpy<=1.23.0", + 'wandb==0.18.7', + "gymnasium==1.0.0", + "tensorboard==2.14.0", + "transformers==4.46.3" ], python_requires=">=3.7,<3.11", keywords=['robotics', 'robot learning', 'learning from demonstration', 'reinforcement learning',