Precise Robotic Needle-Threading with Tactile Perception and Reinforcement Learning

Paper | Project Page

This repository contains the implementation of the paper:

Precise Robotic Needle-Threading with Tactile Perception and Reinforcement Learning
Zhenjun Yu*, Wenqiang Xu*, Siqiong Yao, Jieji Ren, Tutian Tang, Yutong Li, Guoying Gu, Cewu Lu (* = Equal contribution)
CoRL 2023

The code is divided into two parts:

• Control: The code for controling the Franka Emika panda arm
• RL_demo: The code used for training the policy in the simulation environment

Get-Started

The code is only tested on Ubuntu, we will soon test it on Windows system.

With conda and pip

Install anaconda or miniconda. Supposing that the name tnt is used for conda environment:

conda create -y -n tnt python=3.8
conda activate tnt

Then, install dependencies with pip install

pip install -r requirements.txt

Besides, you need to install Grounded-SAM and moveit-tutorial with ROS support