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ACT: Action Chunking with Transformers

Overview

This contains the implementation of ACT, Action Chunking with Transformers. For training robots to perform tasks.

It has two simulated environments: Transfer Cube and Insertion.

You can train and evaluate ACT in sim or real.

Install

On an Apple Silicon Mac:

# Install brew
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"

# Install anaconda, https://www.anaconda.com/download/success
curl -O https://repo.anaconda.com/miniconda/Miniconda3-latest-MacOSX-arm64.sh
sh Miniconda3-latest-MacOSX-arm64.sh

# Install PyTorch for Apple Mac metal
conda install pytorch torchvision torchaudio -c pytorch-nightly

On x64 linux:

# Install conda
mkdir -p ~/miniconda3
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
rm -rf ~/miniconda3/miniconda.sh
#echo "PATH=$PATH:~/miniconda3/bin" >> ~/.bashrc
~/miniconda3/bin/conda init

Then:

# Clone ACT from tjacobs
git clone https://github.com/tjacobs/act.git
cd act

# Create python 3.8.10 env
conda config --append channels conda-forge
conda create -n aloha python=3.8.10
conda activate aloha
pip install torchvision
pip install torch
pip install pyquaternion
pip install pyyaml
pip install rospkg
pip install pexpect
pip install mujoco==2.3.7
pip install dm_control==1.0.14
pip install opencv-python
pip install matplotlib
pip install einops
pip install packaging
pip install h5py
pip install ipython
cd detr && pip install -e .
cd ..

Run

# Generate training data from simulator
./record_sim.sh

# Train network from data (sim or real)
./train.sh

# Evaluate network in simulator
./evaluate_sim.sh

# Generate training data from real robot
./record_real.sh

# Evaluate network on real robot
./evaluate_real.sh

Tips

The evaluation success rate should be around 90% for transfer cube simulator, and around 50% for insertion simulator.

To enable temporal ensembling, add flag --temporal_agg.

Videos will be saved to checkpoints for each evaluation.

For real, train for at least 5000 epochs or 3-4 times the length after the loss has plateaued.

Refer to tuning tips.

For real, you would also need to install ALOHA.

You can find recorded data for scripted/human sim here.

Repo Structure

  • record_sim_episodes.py Record data from sim
  • imitate_episodes.py Train and evaluate ACT
  • policy.py An adaptor for ACT policy
  • detr Model definitions of ACT, modified from DETR
  • sim_env.py Mujoco + DM_Control environments with joint space control
  • ee_sim_env.py Mujoco + DM_Control environments with end effector space control
  • scripted_policy.py Scripted policies for sim environments
  • constants.py Constants shared across files
  • utils.py Utils such as data loading and helper functions
  • visualize_episodes.py Save videos from a .hdf5 dataset