timschneider42 / aerm

Code for our IROS 2022 paper "Active Exploration for Robotic Manipulation"

Active Exploration for Robotic Manipulation

This repository contains the code for our IROS 2022 paper "Active Exploration for Robotic Manipulation".

Installation

This code requires a python 3.7 or higher installation to run. All requirements can be installed via

pip install -r requirements.txt

Running the experiments presented in the paper

Use the following commands to run the experiments presented in the paper. Each run will create a log dir in results/ which contains checkpoints and the tensorboard log.

Experiments on flat table (Tilted Pushing)

# Mutual Information
python main.py new -e ball_f02h0 --total-episodes 10000 -i mutual_information

# Lautum Information
python main.py new -e ball_f02h0 --total-episodes 10000 -i lautum_information -rs 2e5

# No intrinsic reward
python main.py new -e ball_f02h0 --total-episodes 10000 --no-intrinsic

Experiments on table with holes (Tilted Pushing Maze)

# Mutual Information
python main.py new -e ball_f05h1 --total-episodes 50000 -i mutual_information

# Lautum Information (here we use an adaptive weighting scheme)
python main.py new -e ball_f05h1 --total-episodes 50000 -i lautum_information -rs 2e5 -a max -awrs 1e8

# No intrinsic reward
python main.py new -e ball_f05h1 --total-episodes 50000 --no-intrinsic

If you want to run a different algorithm on these environments, check out https://github.com/TimSchneider42/sisyphus-env, which contains the environments and an example on how to use them.

For a documentation of the options of this software, run

python main.py -h

aerm's Issues

Error in IK solution is too large

Sorry to bother you but i encountered a problem when i run the code.Terminate shows:Error in IK solution is too large (0.03199001018292706) and then the robot curl up strangely.How could i solve this problem?
Thanks!

fail to install requirement

I meet this error when I use pip install -r requirements.txt in an empty environment:

ERROR: Cannot install -r requirements.txt (line 28) and robot-gym 1.0.0 (from git+https://github.com/TimSchneider42/robot-gym.git@d745c9018c5acc872bedfa4589c7b5bda3c296b1) because these package versions have conflicting dependencies.

The conflict is caused by:
    The user requested robot-gym 1.0.0 (from git+https://github.com/TimSchneider42/robot-gym.git@d745c9018c5acc872bedfa4589c7b5bda3c296b1)
    sisyphus-env 1.0.0 depends on robot-gym 1.0.0 (from git+https://github.com/TimSchneider42/robot-gym.git)

To fix this you could try to:
1. loosen the range of package versions you've specified
2. remove package versions to allow pip attempt to solve the dependency conflict

ERROR: ResolutionImpossible: for help visit https://pip.pypa.io/en/latest/topics/dependency-resolution/#dealing-with-dependency-conflicts

This problem could be solved by removing robot-gym in requirement.txt. Changing the git version constraint also solve it.