diff --git a/doc/source/index.md b/doc/source/index.md
index 9c759c94..4214a8e8 100644
--- a/doc/source/index.md
+++ b/doc/source/index.md
@@ -13,14 +13,11 @@
> **Repository address: https://github.com/Skylark0924/Rofunc**
> **Documentation: https://rofunc.readthedocs.io/**
-Rofunc package focuses on the **Imitation Learning (IL), Reinforcement Learning (RL) and Learning from Demonstration (
-LfD)** for
+Rofunc package focuses on the **Imitation Learning (IL), Reinforcement Learning (RL) and Learning from Demonstration (LfD)** for
**(Humanoid) Robot Manipulation**. It provides valuable and convenient python functions, including _demonstration
-collection, data
-pre-processing, LfD algorithms, planning, and control methods_. We also provide an Isaac Gym-based robot simulator for
+collection, data pre-processing, LfD algorithms, planning, and control methods_. We also provide an Isaac Gym-based robot simulator for
evaluation. This package aims to advance the field by building a full-process toolkit and validation platform that
-simplifies and standardizes the process of demonstration data collection, processing, learning, and its deployment on
-robots.
+simplifies and standardizes the process of demonstration data collection, processing, learning, and its deployment on robots.
![](../img/pipeline.png)
@@ -70,17 +67,23 @@ The available functions and plans can be found as follows.
If you use rofunc in a scientific publication, we would appreciate citations to the following paper:
```
-@software{liu2023rofunc,
- title={Rofunc: The full process python package for robot learning from demonstration and robot manipulation},
- author={Liu, Junjia and Li, Chenzui and Delehelle, Donatien and Li, Zhihao and Chen, Fei},
- month=jun,
- year= 2023,
- publisher={Zenodo},
- doi={10.5281/zenodo.8084510},
- url={https://doi.org/10.5281/zenodo.8084510}
+@software{liu2023rofunc,
+ title = {Rofunc: The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation},
+ author = {Liu, Junjia and Dong, Zhipeng and Li, Chenzui and Li, Zhihao and Yu, Minghao and Delehelle, Donatien and Chen, Fei},
+ year = {2023},
+ publisher = {Zenodo},
+ doi = {10.5281/zenodo.10016946},
+ url = {https://doi.org/10.5281/zenodo.10016946},
+ dimensions = {true},
+ google_scholar_id = {0EnyYjriUFMC},
}
```
+> **Warning**
+> If our code is found to be used in a published paper without proper citation, we reserve the right to address this issue formally by contacting the editor to report potential academic misconduct!**
+>
+> 如果我们的代码被发现用于已发表的论文而没有被恰当引用,我们保留通过正式联系编辑报告潜在学术不端行为的权利。**
+
## Related Papers
1. Robot cooking with stir-fry: Bimanual non-prehensile manipulation of semi-fluid objects ([IEEE RA-L 2022](https://arxiv.org/abs/2205.05960) | [Code](../../rofunc/learning/RofuncIL/structured_transformer/strans.py))
diff --git a/examples/learning_rl/README.rst b/examples/learning_rl/README.rst
index bf33b2a6..986d05b7 100644
--- a/examples/learning_rl/README.rst
+++ b/examples/learning_rl/README.rst
@@ -164,9 +164,16 @@ The following are examples of reinforcement learning methods for robot learning.
+------------------+-----------------------------+-------------------------------+-------------+
| |CCI| | |CCI-gif| | | ✅ |
+------------------+-----------------------------+-------------------------------+-------------+
- | |CCB| | |CCB-gif| | | ✅ |
+ | |CCB| | | | ✅ |
+------------------+-----------------------------+-------------------------------+-------------+
- | |CSG| | |CSG-gif| | | ✅ |
+ | |CSG| | |CSG-gif1| | | ✅ |
+ | | |CSG-gif2| | | |
+ | | |CSG-gif3| | | |
+ | | |CSG-gif4| | | |
+ | | |CSG-gif5| | | |
+ | | |CSG-gif6| | | |
+ | | |CSG-gif7| | | |
+ | | |CSG-gif8| | | |
+------------------+-----------------------------+-------------------------------+-------------+
| |Hod| | |Hod-gif| | | ✅ |
+------------------+-----------------------------+-------------------------------+-------------+
@@ -235,40 +242,47 @@ The following are examples of reinforcement learning methods for robot learning.
- .. |Ant-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/AntRofuncRLPPO.gif
- .. |FrC-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/FrankaCabinetRofuncRLPPO.gif
- .. |CUC-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/CURICabinetRofuncRLPPO.gif
- .. |CCI-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/CURICabinetRofuncRLPPO.gif
- .. |CCB-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/CURIQbSoftHandSynergyGraspHammerRofuncRLPPO.gif
- .. |Hod-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/HumanoidRofuncRLPPO.gif
- .. |HAB-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/HumanoidFlipRofuncRLAMP.gif
- .. |HAR-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/HumanoidRunRofuncRLAMP.gif
- .. |HAD-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/HumanoidDanceRofuncRLAMP.gif
- .. |HAH-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/HumanoidHopRofuncRLAMP.gif
- .. |HEG-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/HumanoidASEGetupSwordShieldRofuncRLASE.gif
- .. |HEP-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/HumanoidASEPerturbSwordShieldRofuncRLASE.gif
- .. |HEH-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/HumanoidASEHeadingSwordShieldRofuncRLASE.gif
- .. |HEL-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/HumanoidASELocationSwordShieldRofuncRLASE.gif
- .. |HES-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/HumanoidASEStrikeSwordShieldRofuncRLASE.gif
- .. |SBS-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandBlockStackRofuncRLPPO.gif
- .. |SBC-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandBottleCapRofuncRLPPO.gif
- .. |SCA-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandCatchAbreastRofuncRLPPO.gif
- .. |SU2-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandCatchOver2UnderarmRofuncRLPPO.gif
- .. |SCU-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandCatchUnderarmRofuncRLPPO.gif
- .. |SOI-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandDoorOpenInwardRofuncRLPPO.gif
- .. |SOO-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandDoorOpenOutwardRofuncRLPPO.gif
- .. |SCI-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandDoorCloseInwardRofuncRLPPO.gif
- .. |SCO-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandDoorCloseOutwardRofuncRLPPO.gif
- .. |SGP-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandGraspAndPlaceRofuncRLPPO.gif
- .. |SLU-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandLiftUnderarmRofuncRLPPO.gif
- .. |SHO-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandOverRofuncRLPPO.gif
- .. |SPE-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandPenRofuncRLPPO.gif
- .. |SPB-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandPushBlockRofuncRLPPO.gif
- .. |SRO-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandReOrientationRofuncRLPPO.gif
- .. |SSC-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandScissorsRofuncRLPPO.gif
- .. |SSW-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandSwingCupRofuncRLPPO.gif
- .. |SWH-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandSwitchRofuncRLPPO.gif
- .. |STC-gif| image:: https://github.com/Skylark0924/Rofunc/tree/main/doc/img/task_gifs/BiShadowHandTwoCatchUnderarmRofuncRLPPO.gif
+ .. |Ant-gif| image:: ../../img/task_gifs/AntRofuncRLPPO.gif
+ .. |FrC-gif| image:: ../../img/task_gifs/FrankaCabinetRofuncRLPPO.gif
+ .. |CUC-gif| image:: ../../img/task_gifs/CURICabinetRofuncRLPPO.gif
+ .. |CCI-gif| image:: ../../img/task_gifs/CURICabinetRofuncRLPPO.gif
+ .. |CSG-gif1| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspSpatulaRofuncRLPPO.gif
+ .. |CSG-gif2| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspHammerRofuncRLPPO.gif
+ .. |CSG-gif3| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspKnifeRofuncRLPPO.gif
+ .. |CSG-gif4| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspLarge_clampRofuncRLPPO.gif
+ .. |CSG-gif5| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspMugRofuncRLPPO.gif
+ .. |CSG-gif6| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspPhillips_Screw_DriverRofuncRLPPO.gif
+ .. |CSG-gif7| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspPower_drillRofuncRLPPO.gif
+ .. |CSG-gif8| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspScissorsRofuncRLPPO.gif
+ .. |Hod-gif| image:: ../../img/task_gifs/HumanoidRofuncRLPPO.gif
+ .. |HAB-gif| image:: ../../img/task_gifs/HumanoidFlipRofuncRLAMP.gif
+ .. |HAR-gif| image:: ../../img/task_gifs/HumanoidRunRofuncRLAMP.gif
+ .. |HAD-gif| image:: ../../img/task_gifs/HumanoidDanceRofuncRLAMP.gif
+ .. |HAH-gif| image:: ../../img/task_gifs/HumanoidHopRofuncRLAMP.gif
+ .. |HEG-gif| image:: ../../img/task_gifs/HumanoidASEGetupSwordShieldRofuncRLASE.gif
+ .. |HEP-gif| image:: ../../img/task_gifs/HumanoidASEPerturbSwordShieldRofuncRLASE.gif
+ .. |HEH-gif| image:: ../../img/task_gifs/HumanoidASEHeadingSwordShieldRofuncRLASE.gif
+ .. |HEL-gif| image:: ../../img/task_gifs/HumanoidASELocationSwordShieldRofuncRLASE.gif
+ .. |HES-gif| image:: ../../img/task_gifs/HumanoidASEStrikeSwordShieldRofuncRLASE.gif
+ .. |SBS-gif| image:: ../../img/task_gifs/BiShadowHandBlockStackRofuncRLPPO.gif
+ .. |SBC-gif| image:: ../../img/task_gifs/BiShadowHandBottleCapRofuncRLPPO.gif
+ .. |SCA-gif| image:: ../../img/task_gifs/BiShadowHandCatchAbreastRofuncRLPPO.gif
+ .. |SU2-gif| image:: ../../img/task_gifs/BiShadowHandCatchOver2UnderarmRofuncRLPPO.gif
+ .. |SCU-gif| image:: ../../img/task_gifs/BiShadowHandCatchUnderarmRofuncRLPPO.gif
+ .. |SOI-gif| image:: ../../img/task_gifs/BiShadowHandDoorOpenInwardRofuncRLPPO.gif
+ .. |SOO-gif| image:: ../../img/task_gifs/BiShadowHandDoorOpenOutwardRofuncRLPPO.gif
+ .. |SCI-gif| image:: ../../img/task_gifs/BiShadowHandDoorCloseInwardRofuncRLPPO.gif
+ .. |SCO-gif| image:: ../../img/task_gifs/BiShadowHandDoorCloseOutwardRofuncRLPPO.gif
+ .. |SGP-gif| image:: ../../img/task_gifs/BiShadowHandGraspAndPlaceRofuncRLPPO.gif
+ .. |SLU-gif| image:: ../../img/task_gifs/BiShadowHandLiftUnderarmRofuncRLPPO.gif
+ .. |SHO-gif| image:: ../../img/task_gifs/BiShadowHandOverRofuncRLPPO.gif
+ .. |SPE-gif| image:: ../../img/task_gifs/BiShadowHandPenRofuncRLPPO.gif
+ .. |SPB-gif| image:: ../../img/task_gifs/BiShadowHandPushBlockRofuncRLPPO.gif
+ .. |SRO-gif| image:: ../../img/task_gifs/BiShadowHandReOrientationRofuncRLPPO.gif
+ .. |SSC-gif| image:: ../../img/task_gifs/BiShadowHandScissorsRofuncRLPPO.gif
+ .. |SSW-gif| image:: ../../img/task_gifs/BiShadowHandSwingCupRofuncRLPPO.gif
+ .. |SWH-gif| image:: ../../img/task_gifs/BiShadowHandSwitchRofuncRLPPO.gif
+ .. |STC-gif| image:: ../../img/task_gifs/BiShadowHandTwoCatchUnderarmRofuncRLPPO.gif
.. |ModelZoo| replace:: `Model Zoo `__
.. |Ant| replace:: `Ant `__
@@ -276,44 +290,41 @@ The following are examples of reinforcement learning methods for robot learning.
.. |FrC| replace:: `FrankaCabinet `__
.. |FCS| replace:: `FrankaCubeStack `__
.. |CUC| replace:: `CURICabinet `__
- .. |CCI| replace:: `CURICabinetImage `__
- .. |CCB| replace:: `CURICabinetBimanual `__
- .. |CSG| replace:: `CURIQbSoftHandSynergyGrasp `__
+ .. |CCI| replace:: `CURICabinet Image `__
+ .. |CCB| replace:: `CURICabinet Bimanual `__
+ .. |CSG| replace:: `CURIQbSoftHand SynergyGrasp `__
.. |Hod| replace:: `Humanoid `__
- .. |HAB| replace:: `HumanoidAMPBackflip `__
- .. |HAW| replace:: `HumanoidAMPWalk `__
- .. |HAR| replace:: `HumanoidAMPRun `__
- .. |HAD| replace:: `HumanoidAMPDance `__
- .. |HAH| replace:: `HumanoidAMPHop `__
- .. |HEG| replace:: `HumanoidASEGetupSwordShield `__
- .. |HEP| replace:: `HumanoidASEPerturbSwordShield `__
- .. |HEH| replace:: `HumanoidASEHeadingSwordShield `__
- .. |HER| replace:: `HumanoidASEReachSwordShield `__
- .. |HEL| replace:: `HumanoidASELocationSwordShield `__
- .. |HES| replace:: `HumanoidASEStrikeSwordShield `__
- .. |SBS| replace:: `BiShadowHandBlockStack `__
- .. |SBC| replace:: `BiShadowHandBottleCap `__
- .. |SCA| replace:: `BiShadowHandCatchAbreast `__
- .. |SU2| replace:: `BiShadowHandCatchOver2Underarm `__
- .. |SCU| replace:: `BiShadowHandCatchUnderarm `__
- .. |SOI| replace:: `BiShadowHandDoorOpenInward `__
- .. |SOO| replace:: `BiShadowHandDoorOpenOutward `__
- .. |SCI| replace:: `BiShadowHandDoorCloseInward `__
- .. |SCO| replace:: `BiShadowHandDoorCloseOutward `__
- .. |SGP| replace:: `BiShadowHandGraspAndPlace `__
- .. |SLU| replace:: `BiShadowHandLiftUnderarm `__
- .. |SHO| replace:: `BiShadowHandOver `__
- .. |SPE| replace:: `BiShadowHandPen `__
- .. |SPC| replace:: `BiShadowHandPointCloud `__
- .. |SPB| replace:: `BiShadowHandPushBlock `__
- .. |SRO| replace:: `BiShadowHandReOrientation `__
- .. |SSC| replace:: `BiShadowHandScissors `__
- .. |SSW| replace:: `BiShadowHandSwingCup `__
- .. |SWH| replace:: `BiShadowHandSwitch `__
- .. |STC| replace:: `BiShadowHandTwoCatchUnderarm `__
-
-
-
+ .. |HAB| replace:: `HumanoidAMP Backflip `__
+ .. |HAW| replace:: `HumanoidAMP Walk `__
+ .. |HAR| replace:: `HumanoidAMP Run `__
+ .. |HAD| replace:: `HumanoidAMP Dance `__
+ .. |HAH| replace:: `HumanoidAMP Hop `__
+ .. |HEG| replace:: `HumanoidASE GetupSwordShield `__
+ .. |HEP| replace:: `HumanoidASE PerturbSwordShield `__
+ .. |HEH| replace:: `HumanoidASE HeadingSwordShield `__
+ .. |HER| replace:: `HumanoidASE ReachSwordShield `__
+ .. |HEL| replace:: `HumanoidASE LocationSwordShield `__
+ .. |HES| replace:: `HumanoidASE StrikeSwordShield `__
+ .. |SBS| replace:: `BiShadowHand BlockStack `__
+ .. |SBC| replace:: `BiShadowHand BottleCap `__
+ .. |SCA| replace:: `BiShadowHand CatchAbreast `__
+ .. |SU2| replace:: `BiShadowHand CatchOver2Underarm `__
+ .. |SCU| replace:: `BiShadowHand CatchUnderarm `__
+ .. |SOI| replace:: `BiShadowHand DoorOpenInward `__
+ .. |SOO| replace:: `BiShadowHand DoorOpenOutward `__
+ .. |SCI| replace:: `BiShadowHand DoorCloseInward `__
+ .. |SCO| replace:: `BiShadowHand DoorCloseOutward `__
+ .. |SGP| replace:: `BiShadowHand GraspAndPlace `__
+ .. |SLU| replace:: `BiShadowHand LiftUnderarm `__
+ .. |SHO| replace:: `BiShadowHand Over `__
+ .. |SPE| replace:: `BiShadowHand Pen `__
+ .. |SPC| replace:: `BiShadowHand PointCloud `__
+ .. |SPB| replace:: `BiShadowHand PushBlock `__
+ .. |SRO| replace:: `BiShadowHand ReOrientation `__
+ .. |SSC| replace:: `BiShadowHand Scissors `__
+ .. |SSW| replace:: `BiShadowHand SwingCup `__
+ .. |SWH| replace:: `BiShadowHand Switch `__
+ .. |STC| replace:: `BiShadowHand TwoCatchUnderarm `__
.. tab:: OmniIsaacGym