CASSI with Solo

This repository provides the Cooperative Adversarial Self-supervised Skill Imitation (CASSI) algorithm that enables Solo to extract diverse skills through adversarial imitation from unlabeled, mixed motions using NVIDIA Isaac Gym.

Paper: Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions
Project website: https://sites.google.com/view/icra2023-cassi/home

Maintainer: Chenhao Li
Affiliation: Autonomous Learning Group, Max Planck Institute for Intelligent Systems, and Robotic Systems Lab, ETH Zurich
Contact: chenhli@ethz.ch

Installation

1. Create a new python virtual environment with python 3.8

2. Install pytorch 1.10 with cuda-11.3

    pip3 install torch==1.10.0+cu113 torchvision==0.11.1+cu113 torchaudio==0.10.0+cu113 -f https://download.pytorch.org/whl/cu113/torch_stable.html
   

3. Install Isaac Gym

   • Download and install Isaac Gym Preview 4

     cd isaacgym/python
     pip install -e .
     

   • Try running an example

     cd examples
     python 1080_balls_of_solitude.py
     

   • For troubleshooting, check docs in isaacgym/docs/index.html

4. Install solo_gym

    git clone https://github.com/martius-lab/cassi.git
    cd solo_gym
    pip install -e .
   

Configuration

• The Solo environment is defined by an env file solo8.py and a config file solo8_config.py under solo_gym/envs/solo8/. The config file sets both the environment parameters in class Solo8FlatCfg and the training parameters in class Solo8FlatCfgPPO.
• The provided code examplifies the training of Solo 8 with unlabeled mixed motions. Demonstrations induced by 6 locomotion gaits are randomly mixed and augmented with perturbations to 6000 trajectoires with 120 frames and stored in resources/robots/solo8/datasets/motion_data.pt. The state dimension indices are specified in reference_state_idx_dict.json. To train with other demonstrations, replace motion_data.pt and adapt reward functions defined in solo_gym/envs/solo8/solo8.py accordingly.

Usage

Train

python scripts/train.py --task solo8

• The trained policy is saved in logs/<experiment_name>/<date_time>_<run_name>/model_<iteration>.pt, where <experiment_name> and <run_name> are defined in the train config.
• To disable rendering, append --headless.

Play a trained policy

python scripts/play.py

• By default the loaded policy is the last model of the last run of the experiment folder.
• Other runs/model iteration can be selected by setting load_run and checkpoint in the train config.
• Use u and j to command the forward velocity, h and k to switch between the extracted skills.

Citation

@inproceedings{li2023versatile,
  title={Versatile skill control via self-supervised adversarial imitation of unlabeled mixed motions},
  author={Li, Chenhao and Blaes, Sebastian and Kolev, Pavel and Vlastelica, Marin and Frey, Jonas and Martius, Georg},
  booktitle={2023 IEEE international conference on robotics and automation (ICRA)},
  pages={2944--2950},
  year={2023},
  organization={IEEE}
}

References

The code is built upon the open-sourced Isaac Gym Environments for Legged Robots and the PPO implementation. We refer to the original repositories for more details.