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https://github.com/frankroeder/lanro-gym
OpenAI gym environments for goal-conditioned and language-conditioned reinforcement learning
https://github.com/frankroeder/lanro-gym
goal-conditioned gym-environment language-conditioned language-learning reinforcement-learning robotics
Last synced: about 1 month ago
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OpenAI gym environments for goal-conditioned and language-conditioned reinforcement learning
- Host: GitHub
- URL: https://github.com/frankroeder/lanro-gym
- Owner: frankroeder
- License: mit
- Created: 2022-03-10T11:19:51.000Z (almost 3 years ago)
- Default Branch: main
- Last Pushed: 2022-11-21T08:21:04.000Z (about 2 years ago)
- Last Synced: 2024-11-27T21:38:35.700Z (about 1 month ago)
- Topics: goal-conditioned, gym-environment, language-conditioned, language-learning, reinforcement-learning, robotics
- Language: Python
- Homepage:
- Size: 2.22 MB
- Stars: 13
- Watchers: 2
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# LANRO (Language Robotics)
__LANRO__ is a platform to study language-conditioned reinforcement learning.
It is part of the following publications that introduced the following features:
1. a synthetic caretaker providing instructions in hindsight [**_Grounding Hindsight Instructions in Multi-Goal Reinforcement Learning for Robotics_**](https://arxiv.org/abs/2204.04308) ([ICDL 2022](https://icdl2022.qmul.ac.uk/), see `icdl2022` branch for old version)
2. a setup for conversational repair via action corrections [**_Language-Conditioned Reinforcement Learning to Solve Misunderstandings with Action Corrections_**](https://openreview.net/forum?id=lWd0qiv9E-) ([NeurIPS 2022 Workshop LaReL](https://larel-workshop.github.io/))
## Installation
### Pip module
```bash
pip install lanro-gym
```
### From source
```bash
git clone https://github.com/frankroeder/lanro-gym.git
cd lanro-gym/ && pip install -e .
```
or
```bash
# via https
pip install git+https://github.com/frankroeder/lanro-gym.git
# or ssh
pip install git+ssh://[email protected]/frankroeder/lanro-gym.git
```
## Example
```python
import gymnasium as gym
import lanro_gym
env = gym.make('PandaStack2-v0', render=True)
obs, info = env.reset()
terminated = False
while not terminated:
obs, reward, terminated, truncated, info = env.step(env.action_space.sample())
env.close()
```
## Environments
[Click here for the environments README](./lanro_gym/environments/README.md)
## Keyboard and mouse control
It is also possible to manipulate the robot with sliders
```bash
python main.py -i --env PandaNLReach2-v0
```
or your keyboard
```bash
python main.py -i --keyboard --env PandaNLReach2-v0
```
## Developers
### Running tests
We use [pytest](https://realpython.com/pytest-python-testing/).
```bash
PYTHONPATH=$PWD pytest test/
```
Measure the FPS of your system:
```bash
PYTHONPATH=$PWD python examples/fps.py
```
## Acknowledgements
This work uses code and got inspired by following open-source projects:
#### pybullet
Homepage [https://pybullet.org/](https://pybullet.org/)
Source: [https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet)
License: [Zlib](http://opensource.org/licenses/Zlib)
#### panda-gym
Source: [https://github.com/qgallouedec/panda-gym](https://github.com/qgallouedec/panda-gym)
License: [MIT](https://github.com/qgallouedec/panda-gym/blob/master/LICENSE)
Changes: The code structure of `lanro-gym` contains copies and extensively modified parts of `panda-gym`.
## Citations
**Grounding Hindsight Instructions in Multi-Goal Reinforcement Learning for Robotics**
```bibtex
@inproceedings{Roder_GroundingHindsight_2022,
title = {Grounding {{Hindsight Instructions}} in {{Multi-Goal Reinforcement Learning}} for {{Robotics}}},
booktitle = {International {{Conference}} on {{Development}} and {{Learning}}},
author = {R{\"o}der, Frank and Eppe, Manfred and Wermter, Stefan},
year = {2022},
pages = {170--177},
publisher = {{IEEE}},
isbn = {978-1-66541-310-7},
}
```
**pybullet**
```bibtex
@MISC{coumans2021,
author = {Erwin Coumans and Yunfei Bai},
title = {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
howpublished = {\url{http://pybullet.org}},
year = {2016--2021}
}
```
**panda-gym**
```bibtex
@article{gallouedec2021pandagym,
title = {{panda-gym: Open-Source Goal-Conditioned Environments for Robotic Learning}},
author = {Gallou{\'e}dec, Quentin and Cazin, Nicolas and Dellandr{\'e}a, Emmanuel and Chen, Liming},
year = 2021,
journal = {4th Robot Learning Workshop: Self-Supervised and Lifelong Learning at NeurIPS},
}
```