parkour/README.md

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# Robot Parkour Learning #
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Project website: [https://robot-parkour.github.io/](https://robot-parkour.github.io/) <br>
Core Team:
[Ziwen Zhuang*](https://ziwenzhuang.github.io/),
[Zipeng Fu*](https://zipengfu.github.io/),
[Chelsea Finn](https://ai.stanford.edu/~cbfinn/),
[Hang Zhao](https://hangzhaomit.github.io/)<br>
Conference on Robot Learning (CoRL) 2023, Oral <br>
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<p align="center">
<img src="images/teaser.jpeg" width="80%"/>
</p>
## Repository Structure ##
* `legged_gym`: contains the isaacgym environment and config files.
- `legged_gym/legged_gym/envs/a1/`: contains all the training config files.
- `legged_gym/legged_gym/envs/base/`: contains all the environment implementation.
- `legged_gym/legged_gym/utils/terrain/`: contains the terrain generation code.
* `rsl_rl`: contains the network module and algorithm implementation. You can copy this folder directly to your robot.
- `rsl_rl/rsl_rl/algorithms/`: contains the algorithm implementation.
- `rsl_rl/rsl_rl/modules/`: contains the network module implementation.
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## Training in Simulation ##
To install and run the code for training A1 in simulation, please clone this repository and follow the instructions in [legged_gym/README.md](legged_gym/README.md).
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## Hardware Deployment ##
TODO
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## Trouble Shooting ##
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If you cannot run the distillation part or all graphics computing goes to GPU 0 dispite you have multiple GPUs and have set the CUDA_VISIBLE_DEVICES, please use docker to isolate each GPU.
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## To Do (will be done before Nov 2023) ##
- [ ] Go1 training pipeline in simulation
- [ ] A1 deployment code
- [ ] Go1 deployment code
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## Citation ##
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If you find this project helpful to your research, please consider cite us! This is really important to us.
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```
@inproceedings{
zhuang2023robot,
title={Robot Parkour Learning},
author={Ziwen Zhuang and Zipeng Fu and Jianren Wang and Christopher G Atkeson and S{\"o}ren Schwertfeger and Chelsea Finn and Hang Zhao},
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booktitle={Conference on Robot Learning {CoRL}},
year={2023}
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}
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```