GenDOM: Generalizable One-shot Deformable Object Manipulation with Parameter-Aware Policy

So Kuroki, Jiaxian Guo, Tatsuya Matsushima, Takuya Okubo, Masato Kobayashi, Yuya Ikeda, Ryosuke Takanami, Paul Yoo, Yutaka Matsuo, Yusuke Iwasawa
ICRA 2024
arXiv / Project page

task name

Table -> lift cloth
Rope -> unfold cloth Move -> lift rope
Torus -> release rope

required

cd demo_xarm_docker -> ./BUILD-DOCKER-IMAGE.sh and ./RUN-DOCKER-CONTAINER.sh
cd DaxBench -> pip install -e daxbench
modify jax -> from jax.numpy import isin

test

https://daxbench.readthedocs.io/en/latest/basics/getting-started.html cd DaXBench ->

python3 -m daxbench.algorithms.apg.apg --env fold_cloth3 --ep_len 3 --num_envs 4 --lr 1e-4 --gpus 1 --max_grad_norm 0.3 --seed 0 --eval_freq 20

CUDA_VISIBLE_DEVICES=1 python3 -m daxbench.algorithms.apg.apg_para --env fold_cloth1_para --ep_len 3 --num_envs 4 --lr 1e-4 --gpus 1 --max_grad_norm 0.3 --seed 0 --eval_freq 100 --max_it 2000

CUDA_VISIBLE_DEVICES=0 python3 -m daxbench.algorithms.apg.apg_no_para --env fold_cloth1 --ep_len 3 --num_envs 4 --lr 1e-4 --gpus 1 --max_grad_norm 0.3 --seed 0 --eval_freq 100 --max_it 2000

CUDA_VISIBLE_DEVICES=0 python3 -m daxbench.algorithms.apg.apg --env whip_rope --ep_len 3 --num_envs 4 --lr 1e-4 --gpus 1 --max_grad_norm 0.3 --seed 0 --eval_freq 100 --max_it 2000