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Merge pull request #7 from rail-berkeley/robot_infra_and_env
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Robot infra and env
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youliangtan authored Jan 21, 2024
2 parents e016a1b + 4f17575 commit 707d5f3
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21 changes: 21 additions & 0 deletions LICENSE
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MIT License

Copyright (c) 2024 Robotics and AI Lab @ BAIR

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
19 changes: 12 additions & 7 deletions README.md
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Expand Up @@ -58,7 +58,7 @@ bash examples/async_sac_state_sim/tmux_launch.sh
```

<details>
<summary>Execute Specific Commands</summary>
<summary>Click to show detailed commands</summary>

```bash
cd examples/async_sac_state_sim
Expand All @@ -81,13 +81,13 @@ You can optionally launch learner and actor on separate machines. For example, i

### 2. Training from image observation example

One-liner launcher (requires `tmux`):
One-liner launcher (requires `tmux`, `sudo apt install tmux`):
```bash
bash examples/async_sac_image_sim/tmux_launch.sh
```

<details>
<summary>Execute Specific Commands</summary>
<summary>Click to show detailed commands</summary>

```bash
cd examples/async_drq_sim
Expand Down Expand Up @@ -118,7 +118,7 @@ bash examples/async_sac_image_sim/tmux_launch.sh
```

<details>
<summary>Execute Specific Commands</summary>
<summary>Click to show detailed commands</summary>

```bash
cd examples/async_rlpd_drq_sim
Expand Down Expand Up @@ -146,12 +146,17 @@ bash run_actor.sh
</details>

## Run with Franka Arm on Real Robot

Install:
```mermaid
graph LR
A[Robot] <-- ROS --> B[Robot Server]
B <-- HTTP --> C[Gym Env]
C <-- Lib --> D[RL Policy]
```
### Install:
- [serl_franka_controller](https://github.com/rail-berkeley/serl_franka_controller)
- `serl_robot_infra`

(TODO)
Detailed instruction please refer to the `serl_robot_infra`'s [readme](serl_robot_infra/README.md)
## Citation
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