This repository contains the code for our IROS 2022 paper "Active Exploration for Robotic Manipulation".
This code requires a python 3.7 or higher installation to run.
All requirements can be installed via
pip install -r requirements.txtUse the following commands to run the experiments presented in the paper.
Each run will create a log dir in results/ which contains checkpoints and the tensorboard log.
# Mutual Information
python main.py new -e ball_f02h0 --total-episodes 10000 -i mutual_information
# Lautum Information
python main.py new -e ball_f02h0 --total-episodes 10000 -i lautum_information -rs 2e5
# No intrinsic reward
python main.py new -e ball_f02h0 --total-episodes 10000 --no-intrinsic# Mutual Information
python main.py new -e ball_f05h1 --total-episodes 50000 -i mutual_information
# Lautum Information (here we use an adaptive weighting scheme)
python main.py new -e ball_f05h1 --total-episodes 50000 -i lautum_information -rs 2e5 -a max -awrs 1e8
# No intrinsic reward
python main.py new -e ball_f05h1 --total-episodes 50000 --no-intrinsicIf you want to run a different algorithm on these environments, check out https://github.com/TimSchneider42/sisyphus-env, which contains the environments and an example on how to use them.
For a documentation of the options of this software, run
python main.py -h