cross_embodiment_transfer

1. Install packpages

pip install -r requirements.txt

2. Install robosuite fork

git clone https://github.com/tianyudwang/robosuite
cd robosuite
pip install -e .

3. Data generation

python3 generate_demos.py --robot Panda
python3 generate_demos.py --robot Sawyer

4. Train source Panda robot policy

python3 train_bc.py --config configs/Reach/BC_JV.yml

5. Alignment on target Sawyer robot

python3 train_align.py --config configs/Reach/align.JV.yml

6. Visualize

python3 visualize.py --config configs/Sawyer/eval.yml

Acknowledgements

We gratefully acknowledge support from the Technology Innovation Program (20018112, Development of autonomous manipulation and gripping technology using imitation learning based on visual and tactile sensing) funded by the Ministry of Trade, Industry & Energy (MOTIE), Korea.