diff --git a/README.md b/README.md index 1b43740f..b4c8fdf8 100644 --- a/README.md +++ b/README.md @@ -97,47 +97,47 @@ The available functions and plans can be found as follows. > For more details, please check [**the documentation for RofuncRL**](https://rofunc.readthedocs.io/en/latest/examples/learning_rl/index.html). -| Tasks | Animation | Performance | [ModelZoo](https://github.com/Skylark0924/Rofunc/blob/main/rofunc/config/learning/model_zoo.json) | -| ------------------------------ |------------------------------------------------------------|-------------|---------------------------------------------------------------------------------------------------| -| Ant | ![](doc/img/AntRofuncRLPPO.gif) | | ✅ | -| Cartpole | | | | -| FrankaCabinet | ![](doc/img/FrankaCabinetRofuncRLPPO.gif) | | ✅ | -| FrankaCubeStack | | | | -| CURICabinet | ![](doc/img/CURICabinet.gif) | | ✅ | -| CURICabinetImage | ![](doc/img/CURICabinet.gif) | | | -| CURICabinetBimanual | | | | -| Humanoid | ![](doc/img/HumanoidRofuncRLPPO.gif) | | ✅ | -| HumanoidAMP_backflip | ![](doc/img/RofuncAMP_HumanoidFlip.gif) | | ✅ | -| HumanoidAMP_walk | | | ✅ | -| HumanoidAMP_run | ![](doc/img/RofuncAMP_HumanoidRun.gif) | | ✅ | -| HumanoidAMP_dance | ![](doc/img/RofuncAMP_HumanoidDance.gif) | | ✅ | -| HumanoidAMP_hop | ![](doc/img/RofuncAMP_HumanoidHop.gif) | | ✅ | -| HumanoidASEGetupSwordShield | ![](doc/img/ASE3.gif) | | ✅ | -| HumanoidASEPerturbSwordShield | ![](doc/img/ASE1.gif) | | ✅ | -| HumanoidASEHeadingSwordShield | ![](doc/img/ASE5.gif) | | ✅ | -| HumanoidASELocationSwordShield | ![](doc/img/HumanoidASELocationSwordShieldRofuncRLPPO.gif) | | ✅ | -| HumanoidASEReachSwordShield | | | ✅ | -| HumanoidASEStrikeSwordShield | ![](doc/img/ASE4.gif) | | ✅ | -| BiShadowHandBlockStack | ![](doc/img/BiShadowHandBlockStackRofuncRLPPO.gif) | | ✅ | -| BiShadowHandBottleCap | ![](doc/img/BiShadowHandBottleCapRofuncRLPPO.gif) | | ✅ | -| BiShadowHandCatchAbreast | ![](doc/img/BiShadowHandCatchAbreastRofuncRLPPO.gif) | | ✅ | -| BiShadowHandCatchOver2Underarm | ![](doc/img/BiShadowHandCatchOver2UnderarmRofuncRLPPO.gif) | | ✅ | -| BiShadowHandCatchUnderarm | ![](doc/img/BiShadowHandCatchUnderarmRofuncRLPPO.gif) | | ✅ | -| BiShadowHandDoorOpenInward | | | ✅ | -| BiShadowHandDoorOpenOutward | ![](doc/img/BiShadowHandDoorOpenOutwardRofuncRLPPO.gif) | | ✅ | -| BiShadowHandDoorCloseInward | ![](doc/img/BiShadowHandDoorCloseInwardRofuncRLPPO.gif) | | ✅ | -| BiShadowHandDoorCloseOutward | | | | -| BiShadowHandGraspAndPlace | ![](doc/img/BiShadowHandGraspAndPlaceRofuncRLPPO.gif) | | ✅ | -| BiShadowHandLiftUnderarm | ![](doc/img/BiShadowHandLiftUnderarmRofuncRLPPO.gif) | | ✅ | -| BiShadowHandOver | ![](doc/img/BiShadowHandOverRofuncRLPPO.gif) | | ✅ | -| BiShadowHandPen | ![](doc/img/BiShadowHandPenRofuncRLPPO.gif) | | ✅ | -| BiShadowHandPointCloud | | | | -| BiShadowHandPushBlock | ![](doc/img/BiShadowHandPushBlockRofuncRLPPO.gif) | | ✅ | -| BiShadowHandReOrientation | ![](doc/img/BiShadowHandReOrientationRofuncRLPPO.gif) | | ✅ | -| BiShadowHandScissors | ![](doc/img/BiShadowHandScissorsRofuncRLPPO.gif) | | ✅ | -| BiShadowHandSwingCup | ![](doc/img/BiShadowHandSwingCupRofuncRLPPO.gif) | | ✅ | -| BiShadowHandSwitch | ![](doc/img/BiShadowHandSwitchRofuncRLPPO.gif) | | ✅ | -| BiShadowHandTwoCatchUnderarm | | | | +| Tasks | Animation | Performance | [ModelZoo](https://github.com/Skylark0924/Rofunc/blob/main/rofunc/config/learning/model_zoo.json) | +| ------------------------------ |------------------------------------------------------------------------------------------------|-------------|---------------------------------------------------------------------------------------------------| +| Ant | ![](doc/img/AntRofuncRLPPO.gif) | | ✅ | +| Cartpole | | | | +| FrankaCabinet | ![](doc/img/FrankaCabinetRofuncRLPPO.gif) | | ✅ | +| FrankaCubeStack | | | | +| CURICabinet | ![](doc/img/CURICabinet.gif) | | ✅ | +| CURICabinetImage | ![](doc/img/CURICabinet.gif) | | | +| CURICabinetBimanual | | | | +| Humanoid | ![](doc/img/HumanoidRofuncRLPPO.gif) | | ✅ | +| HumanoidAMP_backflip | ![](doc/img/RofuncAMP_HumanoidFlip.gif) | | ✅ | +| HumanoidAMP_walk | | | ✅ | +| HumanoidAMP_run | ![](doc/img/RofuncAMP_HumanoidRun.gif) | | ✅ | +| HumanoidAMP_dance | ![](doc/img/RofuncAMP_HumanoidDance.gif) | | ✅ | +| HumanoidAMP_hop | ![](doc/img/RofuncAMP_HumanoidHop.gif) | | ✅ | +| HumanoidASEGetupSwordShield | ![](doc/img/ASE3.gif) | | ✅ | +| HumanoidASEPerturbSwordShield | ![](doc/img/ASE1.gif) | | ✅ | +| HumanoidASEHeadingSwordShield | ![](doc/img/ASE5.gif) | | ✅ | +| HumanoidASELocationSwordShield | ![](doc/img/HumanoidASELocationSwordShieldRofuncRLPPO.gif) | | ✅ | +| HumanoidASEReachSwordShield | | | ✅ | +| HumanoidASEStrikeSwordShield | ![](doc/img/ASE4.gif) | | ✅ | +| BiShadowHandBlockStack | ![](doc/img/BiShadowHandBlockStackRofuncRLPPO.gif) | | ✅ | +| BiShadowHandBottleCap | ![](doc/img/BiShadowHandBottleCapRofuncRLPPO.gif) | | ✅ | +| BiShadowHandCatchAbreast | ![](doc/img/BiShadowHandCatchAbreastRofuncRLPPO.gif) | | ✅ | +| BiShadowHandCatchOver2Underarm | ![](doc/img/BiShadowHandCatchOver2UnderarmRofuncRLPPO.gif) | | ✅ | +| BiShadowHandCatchUnderarm | ![](doc/img/BiShadowHandCatchUnderarmRofuncRLPPO.gif) | | ✅ | +| BiShadowHandDoorOpenInward | ![](doc/img/BiShadowHandDoorOpenInwardRofuncRLPPO.gif) | | ✅ | +| BiShadowHandDoorOpenOutward | ![](doc/img/BiShadowHandDoorOpenOutwardRofuncRLPPO.gif) | | ✅ | +| BiShadowHandDoorCloseInward | ![](doc/img/BiShadowHandDoorCloseInwardRofuncRLPPO.gif) | | ✅ | +| BiShadowHandDoorCloseOutward | ![](doc/img/BiShadowHandDoorCloseOutwardRofuncRLPPO.gif) | | ✅ | +| BiShadowHandGraspAndPlace | ![](doc/img/BiShadowHandGraspAndPlaceRofuncRLPPO.gif) | | ✅ | +| BiShadowHandLiftUnderarm | ![](doc/img/BiShadowHandLiftUnderarmRofuncRLPPO.gif) | | ✅ | +| BiShadowHandOver | ![](doc/img/BiShadowHandOverRofuncRLPPO.gif) | | ✅ | +| BiShadowHandPen | ![](doc/img/BiShadowHandPenRofuncRLPPO.gif) | | ✅ | +| BiShadowHandPointCloud | | | | +| BiShadowHandPushBlock | ![](doc/img/BiShadowHandPushBlockRofuncRLPPO.gif) | | ✅ | +| BiShadowHandReOrientation | ![](doc/img/BiShadowHandReOrientationRofuncRLPPO.gif) | | ✅ | +| BiShadowHandScissors | ![](doc/img/BiShadowHandScissorsRofuncRLPPO.gif) | | ✅ | +| BiShadowHandSwingCup | ![](doc/img/BiShadowHandSwingCupRofuncRLPPO.gif) | | ✅ | +| BiShadowHandSwitch | ![](doc/img/BiShadowHandSwitchRofuncRLPPO.gif) | | ✅ | +| BiShadowHandTwoCatchUnderarm | ![](doc/img/BiShadowHandTwoCatchUnderarmRofuncRLPPO.gif) | | ✅ | diff --git a/doc/img/AntRofuncRLPPO.mp4 b/doc/img/AntRofuncRLPPO.mp4 deleted file mode 100644 index 115142e5..00000000 Binary files a/doc/img/AntRofuncRLPPO.mp4 and /dev/null differ diff --git a/doc/img/BiShadowHandBlockStackRofuncRLPPO.mp4 b/doc/img/BiShadowHandBlockStackRofuncRLPPO.mp4 deleted file mode 100644 index bb749116..00000000 Binary files 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a/doc/img/BiShadowHandCatchUnderarmRofuncRLPPO.mp4 and /dev/null differ diff --git a/doc/img/BiShadowHandDoorCloseInwardRofuncRLPPO.mp4 b/doc/img/BiShadowHandDoorCloseInwardRofuncRLPPO.mp4 deleted file mode 100644 index 291925f5..00000000 Binary files a/doc/img/BiShadowHandDoorCloseInwardRofuncRLPPO.mp4 and /dev/null differ diff --git a/doc/img/HumanoidASELocationSwordShieldRofuncRLPPO.mp4 b/doc/img/BiShadowHandDoorCloseOutwardRofuncRLPPO.gif similarity index 54% rename from doc/img/HumanoidASELocationSwordShieldRofuncRLPPO.mp4 rename to doc/img/BiShadowHandDoorCloseOutwardRofuncRLPPO.gif index f5c5ba36..d6ce87f0 100644 Binary files a/doc/img/HumanoidASELocationSwordShieldRofuncRLPPO.mp4 and b/doc/img/BiShadowHandDoorCloseOutwardRofuncRLPPO.gif differ diff --git a/doc/img/BiShadowHandDoorOpenInwardRofuncRLPPO.gif b/doc/img/BiShadowHandDoorOpenInwardRofuncRLPPO.gif new file mode 100644 index 00000000..6aa072a8 Binary files /dev/null and b/doc/img/BiShadowHandDoorOpenInwardRofuncRLPPO.gif differ diff --git a/doc/img/BiShadowHandDoorOpenOutwardRofuncRLPPO.mp4 b/doc/img/BiShadowHandDoorOpenOutwardRofuncRLPPO.mp4 deleted file mode 100644 index d4951424..00000000 Binary files a/doc/img/BiShadowHandDoorOpenOutwardRofuncRLPPO.mp4 and /dev/null differ diff --git a/doc/img/BiShadowHandGraspAndPlaceRofuncRLPPO.mp4 b/doc/img/BiShadowHandGraspAndPlaceRofuncRLPPO.mp4 deleted file mode 100644 index 8db2b9e2..00000000 Binary files a/doc/img/BiShadowHandGraspAndPlaceRofuncRLPPO.mp4 and /dev/null differ diff --git a/doc/img/BiShadowHandLiftUnderarmRofuncRLPPO.mp4 b/doc/img/BiShadowHandLiftUnderarmRofuncRLPPO.mp4 deleted file mode 100644 index 34493233..00000000 Binary files a/doc/img/BiShadowHandLiftUnderarmRofuncRLPPO.mp4 and /dev/null differ diff --git a/doc/img/BiShadowHandOverRofuncRLPPO.mp4 b/doc/img/BiShadowHandOverRofuncRLPPO.mp4 deleted file mode 100644 index 46c3fe31..00000000 Binary files a/doc/img/BiShadowHandOverRofuncRLPPO.mp4 and /dev/null differ diff --git a/doc/img/BiShadowHandPenRofuncRLPPO.mp4 b/doc/img/BiShadowHandPenRofuncRLPPO.mp4 deleted file mode 100644 index 54f5ed66..00000000 Binary files a/doc/img/BiShadowHandPenRofuncRLPPO.mp4 and /dev/null differ diff --git a/doc/img/BiShadowHandPushBlockRofuncRLPPO.mp4 b/doc/img/BiShadowHandPushBlockRofuncRLPPO.mp4 deleted file mode 100644 index c012600a..00000000 Binary files a/doc/img/BiShadowHandPushBlockRofuncRLPPO.mp4 and /dev/null differ diff --git a/doc/img/BiShadowHandReOrientationRofuncRLPPO.mp4 b/doc/img/BiShadowHandReOrientationRofuncRLPPO.mp4 deleted file mode 100644 index c3fdf076..00000000 Binary files a/doc/img/BiShadowHandReOrientationRofuncRLPPO.mp4 and /dev/null differ diff --git a/doc/img/BiShadowHandScissorsRofuncRLPPO.mp4 b/doc/img/BiShadowHandScissorsRofuncRLPPO.mp4 deleted file mode 100644 index 11cdaabf..00000000 Binary files a/doc/img/BiShadowHandScissorsRofuncRLPPO.mp4 and /dev/null differ diff --git a/doc/img/BiShadowHandSwingCupRofuncRLPPO.mp4 b/doc/img/BiShadowHandSwingCupRofuncRLPPO.mp4 deleted file mode 100644 index 5a812e76..00000000 Binary files a/doc/img/BiShadowHandSwingCupRofuncRLPPO.mp4 and /dev/null differ diff --git a/doc/img/BiShadowHandSwitchRofuncRLPPO.mp4 b/doc/img/BiShadowHandSwitchRofuncRLPPO.mp4 deleted file mode 100644 index 13020e5a..00000000 Binary files a/doc/img/BiShadowHandSwitchRofuncRLPPO.mp4 and /dev/null differ diff --git a/doc/img/BiShadowHandTwoCatchUnderarmRofuncRLPPO.gif b/doc/img/BiShadowHandTwoCatchUnderarmRofuncRLPPO.gif new file mode 100644 index 00000000..2873dd5d Binary files /dev/null and b/doc/img/BiShadowHandTwoCatchUnderarmRofuncRLPPO.gif differ diff --git a/doc/img/FrankaCabinetRofuncRLPPO.mp4 b/doc/img/FrankaCabinetRofuncRLPPO.mp4 deleted file mode 100644 index 5020c6e3..00000000 Binary files a/doc/img/FrankaCabinetRofuncRLPPO.mp4 and /dev/null differ diff --git a/doc/img/HumanoidRofuncRLPPO.mp4 b/doc/img/HumanoidRofuncRLPPO.mp4 deleted file mode 100644 index 71f10dff..00000000 Binary files a/doc/img/HumanoidRofuncRLPPO.mp4 and /dev/null differ diff --git a/examples/learning_rl/README.rst b/examples/learning_rl/README.rst index a0831823..44753b68 100644 --- a/examples/learning_rl/README.rst +++ b/examples/learning_rl/README.rst @@ -238,7 +238,7 @@ The following are examples of reinforcement learning methods for robot learning. - - ✅ * - `BiShadowHandDoorOpenInward `_ - - + - .. image:: ../../../img/BiShadowHandDoorOpenInwardRofuncRLPPO.gif - - ✅ * - `BiShadowHandDoorOpenOutward `_ @@ -250,7 +250,7 @@ The following are examples of reinforcement learning methods for robot learning. - - ✅ * - `BiShadowHandDoorCloseOutward `_ - - + - .. image:: ../../../img/BiShadowHandDoorCloseOutwardRofuncRLPPO.gif - - ✅ * - `BiShadowHandGraspAndPlace `_ @@ -294,9 +294,9 @@ The following are examples of reinforcement learning methods for robot learning. - - ✅ * - `BiShadowHandTwoCatchUnderarm `_ - - - - + - .. image:: ../../../img/BiShadowHandTwoCatchUnderarmRofuncRLPPO.gif - + - ✅ diff --git a/rofunc/config/learning/model_zoo.json b/rofunc/config/learning/model_zoo.json index a3dda2c1..bf1d6a3d 100644 --- a/rofunc/config/learning/model_zoo.json +++ b/rofunc/config/learning/model_zoo.json @@ -110,7 +110,7 @@ "md5": "" }, "BiShadowHandDoorOpenInwardRofuncRLPPO.pth": { - "url": "https://drive.google.com/uc?id=16Okt9cIAvTb8yVSheftbEozC6ZL4_oZA&export=download", + "url": "https://drive.google.com/uc?id=1fTguenc0p1PbUsM7ojhip1ZcFbytpQy_&export=download", "name": "BiShadowHandDoorOpenInwardRofuncRLPPO.pth", "md5": "" }, @@ -125,7 +125,7 @@ "md5": "" }, "BiShadowHandDoorCloseOutwardRofuncRLPPO.pth": { - "url": "https://drive.google.com/uc?id=1z0DjM7h2CikaldaC5Sm4p2MG4wYDrRc_&export=download", + "url": "https://drive.google.com/uc?id=10EU-kEgapbedoWiuH9UVGOjxGFO0T93u&export=download", "name": "BiShadowHandDoorCloseOutwardRofuncRLPPO.pth", "md5": "" }, @@ -174,6 +174,11 @@ "name": "BiShadowHandSwitchRofuncRLPPO.pth", "md5": "" }, + "BiShadowHandTwoCatchUnderarmRofuncRLPPO.pth": { + "url": "https://drive.google.com/uc?id=1TWXp60AKV-P48_JXvA64-Qi2oijriNAn&export=download", + "name": "BiShadowHandTwoCatchUnderarmRofuncRLPPO.pth", + "md5": "" + }, "efficientsam_s_gpu.jit": { "url": "https://drive.google.com/uc?id=1lMCUFOLeQOlIpuaIA00MB174lL7ZiuoS&export=download", "name": "efficientsam_s_gpu.jit",