Robotic Arm Manipulation with Human Experiences & HRL - Part 9 - Training the Meta Agent
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- Опубліковано 5 жов 2024
- This is part 9 of a video series on solving long-horizon tasks in the Franka Kitchen gym environment with Pytorch, SAC, Human Experience Replay, and a Hierarchical Model Structure(similar to HRL). In this video, we'll be training the meta agent.
For the data set used on this project, visit huggingface.co...
For the completed code base used in this project, visit github.com/bob...
For the base SAC implementation I used - github.com:pranz24/pytorch-soft-actor-critic.git
For the game controller I'm using - Logitech - F310 Gaming Pad - www.bestbuy.co...
For more information on the environment - robotics.faram...
To talk about these projects or get help, drop me a comment or join our discord at / discord .
I'm not an AI practitioner, just a fan of AI posting my own personal projects. For a great intro course to reinforcement learning, I recommend checking out Phil Tabor's Udemy courses on the topic.
Finally, if you're new to Pytorch and deep learning in general, Mike Cohen's course on deep learning is the best place I can think of to start.
www.udemy.com/...
My favorite version of Linux(and what I'm using in these videos) - pop.system76.com/
Great video.
Could you please make a video on manipulation using VLM
YESSSS!!!! Now it works!
Hey, thanks for the problem report. I wouldn't have noticed for weeks. :)
After following all the courses with you, I have gained a lot of help. I have a few questions: First, I have successfully trained all tasks using your dataset except for the hinge_cabinet task, which is not working, and I don't know why. Second, why did I use PyCharm before, but in this series, I used VSCode? What is the difference between the two? Third, could you later release a tutorial on how to import and define my own robot and environment for training?
Great questions. 1) For hinge cabinet, what behavior are you seeing? Have you tried deleting the weights file for that network and retraining? 2) You can use whatever IDE you're most comfortable with for most of my videos. I switched over to VSCode full time because I needed something that supported Python, Jupyter notebooks, C++, and ROS and integrated well with ChatGPT. Jetbrains(the company that makes Pycharm) has solutions for all of those problems but it pushes you into their paid tier and they bundle some of those capabilities into different products(PyCharm v.s. CLion). 3) That's something I'm currently trying to figure out. When I do, I'll definitely make a video :)
I'm very excited to receive your reply, thank you very much, and I look forward to your new work@@robertcowher