Code for R:SS 2021 paper RMP2: A Structured Composable Policy Class for Robot Learning. [Paper]
git clone https://github.com/UWRobotLearning/rmp2.git
cd rmp2
conda env create -f environment.yml
. startup.sh
To run a goal reaching task for a Franka robot:
python examples/rmp2/rmp2_franka.py
To run a goal reaching task for a 3-link robot:
python examples/rmp2/rmp2_3link.py
Note: The instruction below is for the 3-link robot. To run experiments with the franka robot, simply replace 3link by franka.
To train an NN policy from scratch (without RMP2):
python run_3link_nn.py
To train an NN residual policy:
python run_3link_nn.py --env 3link_residual
To train an RMP residual policy:
python run_3link_residual_rmp.py
To restore training of a policy:
python restore_training.py --ckpt-path ~/ray_results/[EXPERIMENT_NAME]/[RUN_NAME]/
To visualize the trained policy:
python examples/rl/run_policy_rollouts.py --ckpt-path ~/ray_results/[EXPERIMENT_NAME]/[RUN_NAME]/
If you use this source code, please cite the below article,
@inproceedings{Li-RSS-21,
author = "Li, Anqi and Cheng, Ching-An and Rana, M Asif and Xie, Man and Van Wyk, Karl and Ratliff, Nathan and Boots, Byron",
booktitle = "Robotics: Science and Systems ({R:SS})",
title = "{{RMP}2: A Structured Composable Policy Class for Robot Learning}",
year = "2021"
}