RoboManipBaselines

Code Slide

Software that integrates various imitation learning methods and benchmark task environments to provide baselines for robot manipulation

🏟 Environments for robot manipulation

📦 Various tasks

Cable

Ring

Particle

Cloth

🦾 Various robots

UR5e

xArm7

ALOHA

🎥 Real world and various simulators

Real UR5e

Real xArm7

Isaac Gym

MuJoCo

💿 Data

📑 Demonstration datasets

Demonstrations in MuJoCo environments

DatasetEnvironmentOperation method# DemoDateLink
TeleopMujocoUR5eCable_Dataset30 MujocoUR5eCable 3D mouse3010/31/2024 Download (9GB)
TeleopMujocoUR5eRing_Dataset30 MujocoUR5eRing 3D mouse3010/31/2024 Download (8GB)
TeleopMujocoUR5eParticle_Dataset30 MujocoUR5eParticle 3D mouse3010/31/2024 Download (13GB)
TeleopMujocoUR5eCloth_Dataset30 MujocoUR5eCloth 3D mouse3010/31/2024 Download (8GB)

Demonstrations in real-world environments

DatasetEnvironmentOperation method# DemoDateLink
TeleopRealUR5eFoldBlueHandkerchief_Dataset30 RealUR5eDemo 3D mouse3011/15/2024 Download (3.1GB)

🔧 Learned parameters

Policies in MuJoCo environments

PolicyEnvironmentTraining datasetDateLink
SARNN MujocoUR5eCable TeleopMujocoUR5eCable_Dataset30 10/31/2024 Download (0.1MB)
ACT MujocoUR5eCable TeleopMujocoUR5eCable_Dataset30 10/31/2024 Download (0.6GB)
DiffusionPolicy MujocoUR5eCable TeleopMujocoUR5eCable_Dataset30 10/31/2024 Download (4.0GB)

📈 Evaluation results

MujocoUR5eCable MujocoUR5eRing MujocoUR5eParticle MujocoUR5eCloth

Citation

You can cite this work with:

@software{RoboManipBaselines_GitHub2024,
  author    = {Murooka, Masaki and Motoda, Tomohiro and Nakajo, Ryoichi},
  title     = {{RoboManipBaselines}},
  url       = {https://github.com/isri-aist/RoboManipBaselines},
  version   = {1.0.0},
  year      = {2024},
  month     = dec,
}