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# Robot Parkour Learning # # Robot Parkour Learning #
Project website: [https://robot-parkour.github.io/](https://robot-parkour.github.io/) <br>
**Project website**: [https://robot-parkour.github.io/](https://robot-parkour.github.io/) 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>
<p align="center"> <p align="center">
<img src="images/teaser.jpeg" width="80%"/> <img src="images/teaser.jpeg" width="80%"/>
</p> </p>
This codebase is contains implementation for training and visualizing the result of paper [Robot Parkour Learning](https://openreview.net/forum?id=uo937r5eTE)
To install and run the code, please clone this repository and follow the instructions in [legged_gym/README.md](legged_gym/README.md)
## Repository Structure ## ## Repository Structure ##
* `legged_gym`: contains the isaacgym environment and config files. * `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/a1/`: contains all the training config files.
- `legged_gym/legged_gym/envs/base/`: contains all the environment implementation. - `legged_gym/legged_gym/envs/base/`: contains all the environment implementation.
@ -20,28 +20,28 @@ To install and run the code, please clone this repository and follow the instruc
- `rsl_rl/rsl_rl/algorithms/`: contains the algorithm implementation. - `rsl_rl/rsl_rl/algorithms/`: contains the algorithm implementation.
- `rsl_rl/rsl_rl/modules/`: contains the network module implementation. - `rsl_rl/rsl_rl/modules/`: contains the network module implementation.
## Trouble Shooting ## ## 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).
## Hardware Deployment ##
TODO
## Trouble Shooting ##
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. 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.
## To Do ## ## To Do (will be done before Nov 2023) ##
- [ ] Go1 training pipeline in simulation
The code is currently only for training and visualizing in simulation. - [ ] A1 deployment code
- [ ] Go1 deployment code
The code and instructions for real robot is on the way.
**Before November 2023, the code for real robot (A1 and Go1) and the checkpoint will be released.**
## Citation ## ## Citation ##
If you find this code useful in your research, please consider citing: If you find this project helpful to your research, please consider cite us! This is really important to us.
``` ```
@inproceedings{ @inproceedings{
zhuang2023robot, zhuang2023robot,
title={Robot Parkour Learning}, 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}, author={Ziwen Zhuang and Zipeng Fu and Jianren Wang and Christopher G Atkeson and S{\"o}ren Schwertfeger and Chelsea Finn and Hang Zhao},
booktitle={7th Annual Conference on Robot Learning}, booktitle={Conference on Robot Learning {CoRL}},
year={2023}, year={2023}
url={https://openreview.net/forum?id=uo937r5eTE}
} }
``` ```