ProDMP_RAL

This is the imitation learning code base of ProDMP, which combines the ProDMP with an encoder-decoder deep neural network. The ProDMP alone can be used as an individual module. We implemented it together with the DMP and ProMP in https://github.com/ALRhub/MP_PyTorch.

Pre-requisites

conda or pip: pytorch (ML code base), wandb (Online ML experiment logger)

pip:

MP_PyTorch (trajectory generator): https://pypi.org/project/mp-pytorch/,

cw2 (deploy experiment locally or on cluster): https://pypi.org/project/cw2/,

pyyaml (parse yaml file),

tabulate (utility package),

natsort (utility package),

python-mnist (utility package),

Run Exp:

First init your wandb account: 'wandb init'

Replace my username of wandb account in all config files by your wandb account 'gelikit' -> 'my_wandb_username'

Run experiment through this way:

'python exp.py config.yaml -o --nocodecopy'

E.g. 'python digit_cw.py one_digit.yaml -o, --nocodecopy'

Dataset

https://drive.google.com/drive/folders/1N_WomzuY2wDX5lOGVg5PvjTqkVGlA4pl?usp=sharing