Leibniz Gym

This repository provides IsaacGym environment for the tri-finger robot. However, the development work can be used to base other RL environments in IsaacGym as well.

The project currently uses RL-Games for training agents. More support will follow based on demand.

Installation

Details regarding installtion of IsaacGym can be found here. For convinience these are summarized below as well. We currently support the Preview Release 2 version of IsaacGym.

Prerequisites

The code has been tested on Ubuntu 20.04 with Python 3.7. The minimum recommended NVIDIA driver version for Linux is 460.32 (dictated by support of IsaacGym).

It uses Anaconda to create virtual environments. To install Anaconda, follow instructions here.

Install IsaacGym in a new conda environment

Run the IsaacGym installation script (bash create_conda_env_rlgpu.sh, provided in the downloaded IsaacGym zip):

This will create a new conda env called rlgpu, which can be activated by running:

conda activate rlgpu

Install Leibnizgym

In the root directory, run:

pip install -e .

This will install the leibnizgym package and all its dependencies into the Python environment.

Install RL toolbox (optional)

Currently, we use RL-games for reinforcement learning. It should be downloaded automatically with the previous step. However, if you want to try with a different branch, you can manually install it locally instead:

# somewhere outside trifinger-manip
git clone https://github.com/Denys88/rl_games.git
pip install -e .

Running

Training

To train with RL Games:

python scripts/train_rlgames.py num_envs=<INT>

Where num_envs is an integer. For a recent 8G NVIDIA GPU you should go with 8192 envs, or for 16G 16382.

We use Hydra to keep configuration of runs simple. You can view the main arguments to the scripts by looking in resources/config/config.yaml which contains more information. You set them by doing config_variable=value. The main ones to be aware of are:

• leibniz sets which environment to use. Currently the only one and the default is trifinger, other environments will be listed in the resources/config/leibniz directory as they are created.
• lebiniz/reward_terms sets which set of reward terms to use (environment specific). Currently we have two groups for Trifinger: keypoints and posquat.
• leibniz.task_difficulty (trifinger-only) set to 1, 2, 3, or 4, which correspond to training on each of the four difficulty levels from the Real Robot Challenge - see description here.
• leibniz.cube_obs_keypoints - boolean flag, defaults to True. When set, pose is represented by keypoints in network inputs, otherwise it is represented by concatenated position and quaternion.
• wandb - see config.yaml for details, but set wandb.activate=True to enable WandB logging.

(Arguments using the / syntax are selecting one option from a config group, whereas those wtih a . are setting the value of an individual argument.)

Inference & Loading Checkpoints

Trained checkpoints from RL Games are saved within the nn/ directory within the relevant output directory (output/<date>/time by default)

To run inference and see the results, you want to go:

python scripts/train_rlgames.py num_envs=<INT> play=True checkpoint=/path/to/checkpoint.pth

Where play tells it not to train and checkpoint is the path to load the checkpoint. If you want to start training from a trained checkpoint, then just don't specify play (or set it to False). Usually you'll only want a few environments (say, 256) to get smooth rendering performance during inference.

The following is one result of training on a V-100GPU for ~24 hours to about 4B timesteps across 16384 environments:

Citing

***TODO*** BibTeX when arXived.