This repo contains an implementation of the BulletPhysics environment used in the paper Neural Task Programming: Learning to Generalize Across Hierarchical Tasks. If you find this repo useful, please use the following bib to cite our paper.
@inproceedings{xu18ntp,
title={Neural Task Programming: Learning to Generalize Across Hierarchical Tasks},
author={Xu D, Nair S, Zhu Y, Gao J, Garg A, Fei-Fei L, Savarese S.},
booktitle={International Conference on Robotics and Automation},
year={2018}
}
This repo is adapted from Kuan Fang's PyBullet wrapper (VAT). Note that the environment only contains the PR2 gripper model. The full Sawyer robot simulation environment will be released soon.
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Python 2.7
-
Note that this repo only works with PyBullet 1.2.9. I'm working on a fix to make it work with the newest PyBullet release (1.8)
- Install
Bullet 3.x.
bypip install pybullet==1.2.9
or simplypip install -r requirements.txt
.
Demo: run python demo.py --time_step 0.001
to execute expert policy of the Block Stacking task.