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https://github.com/um-arm-lab/mab_ms

Bandit-based Model Selection for Deformable Object Manipulation
https://github.com/um-arm-lab/mab_ms

Last synced: 7 months ago
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Bandit-based Model Selection for Deformable Object Manipulation

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README 

          
# Multi-armed Bandit Based Model Selection For Deformable Object Manipulation



This repository contains several catkin based packages for testing models and MAB methods for deformable object manipulation; first presented at the 12th International Workshop on the Algorithmic Foundations of Robotics (WAFR 2016), an extended version is available [here](https://arxiv.org/abs/1703.10254). The authorative version is soon to be published in IEEE T-ASE.



## Maintainer



- [Dale McConachie](https://robotics.umich.edu/profile/dale-mcconachie/) <>, [Autonomous Robotic Manipulation Lab](http://arm.eecs.umich.edu/), University of Michigan



*Note:* ***Please use the GitHub issues*** *for questions and problems regarding the mab_ms package and its components.* ***Do not write emails.***



## Dependencies and Install Details

* This code has been tested on [Ubuntu 16.04](https://www.ubuntu.com/download/desktop) with [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu)

* Each folder is a catkin pacakge, as such this can be added directly to an existing catkin workspace, or used in a new workspace. There are no other ROS packages needed beyond those installed as part of the ros-kinetic-desktop-full package.

* Requires some common libraries such as Eigen. If you find one that is not installed on Ubuntu 16.04 by default, please open and ticket and we will update this list.

* [Gurobi](https://www.gurobi.com)  

  Get academic license  

  Download and [follow installation instructions for 7.0.X](http://www.gurobi.com/documentation/7.0/quickstart_linux/software_installation_guid.html#section:Installation) (extract to /opt; add some lines to .bashrc; run `grbgetkey`)

  Switch to using the g++5.2 version: `cd ${GUROBI_HOME}/lib ` `ln -sf libgurobi_g++5.2.a libgurobi_c++.a`

* mencoder (for generating videos from the simulated experiments): `sudo apt install mencoder`

* `imToMov.sh` needs to be added to the system path somewhere (used in conjuction with mencoder for generating videos). E.g.: `sudo cp imToMov.sh /usr/local/bin`



## Running an experiment

Each experiment uses the same base launch file, and specifies an extra launch file containing parameters specific to that experiment:

* `roslaunch smmap generic_experiment.launch task_type:=rope_cylinder --screen`

* `roslaunch smmap generic_experiment.launch task_type:=cloth_table --screen`

* `roslaunch smmap generic_experiment.launch task_type:=cloth_wafr --screen`



## Logging data

By default, the launch files are setup to log data to `./logs//default`. This will overwrite any data that exists in this folder automatically without prompting. Similarly when screenshots are enabled (see below), the folder `/tmp/smmap_screenshots` will be cleared and recreated every trial.



## Arguments to the outer launch file

`generic_experiment.launch` can take many parameters as arguments, and set these on the ROS parameter server to change how an experiment is run. The [smmap/scripts](https://github.com/UM-ARM-Lab/mab_ms/tree/master/smmap/scripts) folder contains many examples of running tasks in batch mode with varying parameters.



### Usage

Basic pattern:

```

roslaunch smmap generic_experiment.launch task_type:= [options:=value]

```



Task and logging arguments:

```

task_type:=

    default: None - needs to be specified

    options: rope_cylinder, cloth_table, cloth_wafr

    info: Controls which experiment to run; a matching "task_type_params.launch" file must exist



logging_enabled:=

    default: true

    options: true, false

    info: Controls if data is logged to file while running an experiment



test_id:=

    default: default

    options: Any string that the system can convert to a pth

    info: Controls the subfolder that logging data is saved to. Ie. logs///data_is_saved_here

```



Simulator arguments:

```

launch_simulator:=

    default: true

    options: true, false

    info: Controls if the launch file starts the simulator directly or not. Used for debugging purposes in combination with an IDE.



feedback_covariance:=

    default: 0.0

    options: [0, inf]

    info: Controls how much noise the deformable object sensor in the simulator has



start_bullet_viewer:=

    default: true

    options: true, false

    info: Controls if the viewer for the simulator is started. Used for batch processing of multiple trials and running on headless machines.



screenshots_enabled:=

    default: false

    options: true, false

    info: Requires start_bullet_viewer:=true. Controls if screenshots of the trial are made, and video created at the end.

```



Model usage arguments:

```

multi_model:=

    default: false

    options: true, false

    info: Controls if we are using a single model, or a collection of 60 models to manipulate the deformable object



calculate_regret:=

    default: false

    options: true, false

    info: Requires multi_model:=true. Controls if we are collecting the data needed to calculate regret plots.



deformability_override:=

    default: false

    options: true, false

    info: Requires multi_model:=false use_adaptive_model:=false. Controls if we are going to override the default value used for a diminishing ridigidity model as set in code.



translational_deformability:=

    default: None

    options: [0, inf]

    info: Requires multi_model:=false deformability_override:=true use_adaptive_model:=false. Sets K_trans for a single trial.



rotational_deformability:=

    default: None

    options: [0, inf]

    info: Requires multi_model:=false deformability_override:=true use_adaptive_model:=false. Sets K_rot for a single trial.



use_adaptive_model:=

    default: false

    options: true, false

    info: Requires multi_model:=false. Controls if a trial is using a diminishing rigidity model, or an adaptive model.



adaptive_model_learning_rate:=

    default: 0.000001

    options: (0, 1]

    info: Requires multi_model:=false use_adaptive_model:=true. Controls the learning rate for an adaptive model for a single trial.

```



Main control loop and controller settings:

```

launch_planner:=

    default: true

    options: true, false

    info: Controls if the planner (main control loop) is started by this launch file.  Used for debugging purposes in combination with an IDE.



optimization_enabled:=

    default: true

    options: true, false

    info: Legacy paramter. Can be set to false to change from an Gurobi optimization based controller to pseudo-inverse based controller.



use_random_seed:=

    default: false

    options: true, false

    info: Used to get disable deterministic behaviour, enabling statistical trials.



static_seed_override:=

    default: false

    options: true, false

    info: Requires use_random_seed:=false. Used to rerun a previous trial to generate the exact same data as was generated previously. Used for debugging purposes.



static_seed:="hex string"

    default = a8710913d2b5df6c

    options: Any hex string that is convertable into a size_t.

    info: Requries use_random_seed:=false static_seed_override:=true. Used for debugging purposes.

```



Multi-armed bandit parameters. The following are meaningful only if `multi_model:=true`:

```

bandit_algorithm:=

    default: KFMANB

    options: UCB, KFMANB, KFMANDB

    info: Controls which MAB method is used to select which model to use at the current timestep to manipulate the object.



kalman_parameters_override:=

    default: false

    options: true, false

    info: Controls if we are overriding the default parameters for KFMANDB.



process_noise_factor:=

    default: 0.1

    options: (0, inf)

    info: Requires kalman_parameters_override:=true.



observation_noise_factor:=

    default: 0.01

    options: (0, inf)

    info: Requires kalman_parameters_override:=true.



correlation_strength_factor_override:=

    default: false

    options: true, false

    info: Requires kalman_parameters_override:=true.



correlation_strength_factor:=

    default: 0.9

    options: [0, 1]

    info: Requires kalman_parameters_override:=true correlation_strength_factor_override:=true.

```



## F.A.Q.



#### I get the following error `[generic_experiment.launch] is neither a launch file in package [smmap] nor is [smmap] a launch file name`, what is wrong?

Double check that you have built and sourced your catkin workspace correctly.



#### I get the following error and then the simulator closes!

```

================================================================================

REQUIRED process [deform_simulator_node-2] has died!

process has finished cleanly

log file: ~/.ros/log/30ea73d4-3465-11e8-a8bb-0cc47ac81363/deform_simulator_node-2*.log

Initiating shutdown!

================================================================================

```



Check if this message is preceeded by `terminate_simulation_topic not set! Using default of terminate_simulation`. If so, this is normal shutdown behaviour. We have setup the launch files to automatically close everything at the end of a trial to enable batch trials. If not, check to see what happened immediately prior to everything shutting down.



#### The simulator closes almost immedately, and Eigen assertions are failing!



Is the message similar to this?

```

[/smmap_planner_node ros.smmap.planner]: ------------------------------------------------------------------------------------

[/smmap_planner_node ros.smmap.task]: Determining desired direction

[/smmap_planner_node ros.smmap.direct_coverage_task]: Finding 'best' object delta

[/smmap_planner_node ros.smmap.target_point_task]: Found best delta in 0.00554037 seconds

Error code = 10009

No Gurobi license found (user dmcconac, host thor, hostid 7ac81363)

smmap_test_node_KFMANB: /usr/include/eigen3/Eigen/src/Core/Block.h:148: Eigen::Block::Block(XprType&, Eigen::Index, Eigen::Index, Eigen::Index, Eigen::Index) [with XprType = Eigen::Matrix; int BlockRows = 6; int BlockCols = 1; bool InnerPanel = false; Eigen::Index = long int]: Assertion `startRow >= 0 && blockRows >= 0 && startRow <= xpr.rows() - blockRows && startCol >= 0 && blockCols >= 0 && startCol <= xpr.cols() - blockCols' failed.

```

Check your [Gurobi licence](http://www.gurobi.com/documentation/7.0/quickstart_linux/software_installation_guid.html#section:Installation)