Robots that learn to interact with the environment autonomously
Project description
real-robots
Robots that learn to interact with the environment autonomously
Installation
pip install -U real_robots
If everything went well, then you should be able to run :
real-robots-demo
and it should (eventually) open up a small window with a little robotic arm doing random stuff.
Usage
import gym
import numpy as np
import time
import real_robots
from real_robots.policy import BasePolicy
class RandomPolicy(BasePolicy):
def __init__(self, action_space):
self.action_space = action_space
self.action = np.zeros(action_space.shape[0])
self.action += -np.pi*0.5
def step(self, observation, reward, done):
self.action += 0.4*np.pi*np.random.randn(self.action_space.shape[0])
return self.action
env = gym.make("REALRobot-v0")
pi = RandomPolicy(env.action_space)
env.render("human")
observation = env.reset()
reward, done = 0, False
for t in range(40):
time.sleep(1./1000.)
action = pi.step(observation, reward, done)
observation, reward, done, info = env.step(action)
print(t, reward)
Local Evaluation
import gym
import numpy as np
import real_robots
from real_robots.policy import BasePolicy
class RandomPolicy(BasePolicy):
def __init__(self, action_space):
self.action_space = action_space
self.action = np.zeros(action_space.shape[0])
self.action += -np.pi*0.5
def step(self, observation, reward, done):
self.action += 0.4*np.pi*np.random.randn(self.action_space.shape[0])
return self.action
result, detailed_scores = real_robots.evaluate(
RandomPolicy,
intrinsic_timesteps=40,
extrinsic_timesteps=40,
extrinsic_trials=5,
visualize=True,
goals_dataset_path="./goals.npy.npz",
)
# NOTE : You can find a sample goals.npy.npz file at
#
# https://aicrowd-production.s3.eu-central-1.amazonaws.com/misc/REAL-Robots/goals.npy.npz
print(result)
# {'score_total': 0.2327459533906755, 'score_2D': 0.6982378601720265, 'score_2.5D': 0, 'score_3D': 0}
print(detailed_scores)
# {'2D': [0.6646365565451159, 0.6632591441787807, 0.7569003923985664, 0.7167885964780916, 0.6896046112595778]}
See also our FAQ.
- Free software: MIT license
Features
The REALRobot environment is a standard gym environment.
It includes a 7DoF kuka arm with a 2DoF gripper, a table with 3 objects on it and a camera looking at the table from the top.
For more info on the environment see environment.md.
Authors
- Francesco Mannella
- Emilio Cartoni
- Sharada Mohanty
Project details
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real_robots-0.1.16.tar.gz
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