ikalevatykh / mime-release

MImE - Manipulation Imitation Environments

MImE - Manipulation Imitation Environments

This package provides robotic manipulation gym environments for testing Imitation and Reinforcement algorithms. It also provides a framework to create your own environments.

One of the key features of MimE is the ability to create expert scripts to solve environments. This provides a stable source of expert trajectories and repeatability of experiments for Behavioral Cloning / Imitatation Learning.

For example of usage see Learning policies for robotic manipulation package.

Install

git clone https://github.com/ikalevatykh/mime-release.git
cd mime-release
pip install -r requirements.txt
python setup.py develop

Citation

If you find this repository helpful, please cite our work:

@inproceedings{learningsim2real2019,
  author    = {Alexander Pashevich and Robin Strudel and Igor Kalevatykh and Ivan Laptev and Cordelia Schmid},
  title     = {Learning to Augment Synthetic Images for Sim2Real Policy Transfer},
  booktitle = {IROS},
  year      = {2019},
}

@inproceedings{rlbc2020,
  author    = {Robin Strudel and Alexander Pashevich and Igor Kalevatykh and Ivan Laptev and Josef Sivic and Cordelia Schmid},
  title     = {Learning to combine primitive skills: A step towards versatile robotic manipulation},
  booktitle = {ICRA},
  year      = {2020},
}

mime-release's Issues

Collecting VR demonstrations.

Thanks for releasing your code! I'm working with pybullet, and I was curious as to what degree your project implements VR teleportation. There seem to be several utility scripts that would indicate you support using VR to collect expert demonstrations but I have yet to see any way to actually go about collecting VR data.

Specifically, though the Scene superclass has a docstring mentioning VR support, it doesn't seem to support connecting to external physics servers, and the structure of the project is such that the urdf files need to be loaded on the local machine so connecting to an external server seems impossible.

TLDR; does your repo support VR teleportation (and if so, how exactly do you go about collecting VR data)?

Thanks!