Minimialist reimplimentation of the Octo Generalist Robotics Policy.
'''module load cudatoolkit/11.8 miniconda/3'''
conda create -n mini-grp python=3.10 conda activate mini-grp pip install -r requirements.txt conda install pytorch torchvision torchaudio pytorch-cuda=12.1 -c pytorch -c nvidia
pip install torch==2.4.0 pip install hydra-submitit-launcher --upgrade
pip install milatools==0.1.14 decorator==4.4.2 moviepy==1.0.3
Prerequisites:
CUDA version >=11.8 (this is required if you want to perform a full installation of this repo and perform RT-1 or Octo inference)
An NVIDIA GPU (ideally RTX; for non-RTX GPUs, such as 1080Ti and A100, environments that involve ray tracing will be slow). Currently TPU is not supported as SAPIEN requires a GPU to run.
Clone this repo:
git clone https://github.com/simpler-env/SimplerEnv --recurse-submodules
Install numpy<2.0 (otherwise errors in IK might occur in pinocchio):
pip install numpy==1.24.4
Install ManiSkill2 real-to-sim environments and their dependencies:
cd {this_repo}/ManiSkill2_real2sim
pip install -e .
Install this package:
cd {this_repo}
pip install -e .
conda install conda-forge::vulkan-tools conda-forge::vulkan-headers
Basic example to train the GRP over the bridge dataset
python mini-grp.py
Launch multiple jobs on a slurm cluster to evalute different model architectures, etc.
python mini-grp.py --multirun gradient_accumulation_steps=1,2,4 hydra/launcher=submitit_slurm
MIT