47 lines
2.0 KiB
Markdown
47 lines
2.0 KiB
Markdown
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# Robot Parkour Learning #
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**Project website**: [https://robot-parkour.github.io/](https://robot-parkour.github.io/)
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<p align="center">
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<img src="images/teaser.jpeg" width="80%"/>
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</p>
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This codebase is contains implementation for training and visualizing the result of paper [Robot Parkour Learning](https://openreview.net/forum?id=uo937r5eTE)
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To install and run the code, please clone this repository and follow the instructions in [legged_gym/README.md](legged_gym/README.md)
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## Repository Structure ##
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* `legged_gym`: contains the isaacgym environment and config files.
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- `legged_gym/legged_gym/envs/a1/`: contains all the training config files.
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- `legged_gym/legged_gym/envs/base/`: contains all the environment implementation.
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- `legged_gym/legged_gym/utils/terrain/`: contains the terrain generation code.
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* `rsl_rl`: contains the network module and algorithm implementation. You can copy this folder directly to your robot.
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- `rsl_rl/rsl_rl/algorithms/`: contains the algorithm implementation.
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- `rsl_rl/rsl_rl/modules/`: contains the network module implementation.
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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 ##
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The code is currently only for training and visualizing in simulation.
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The code and instructions for real robot is on the way.
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**Before November 2023, the code for real robot (A1 and Go1) and the checkpoint will be released.**
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## Citation ##
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If you find this code useful in your research, please consider citing:
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```
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@inproceedings{
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zhuang2023robot,
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title={Robot Parkour Learning},
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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={7th Annual Conference on Robot Learning},
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year={2023},
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url={https://openreview.net/forum?id=uo937r5eTE}
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}
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```
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