Visual Whole-Body for Loco-Manipulation论文复现
Visual Whole-Body for Loco-Manipulation论文复现
- 单纯复现过程
-
- 准备环境
- 运行
-
- low-level训练
- low-level 测试
- high-level训练
- high-level测试
- 论文大概解读
单纯复现过程
准备环境
仿真环境：
- Ubuntu20.04
- 4090
- cuda12.1 cudnn 9.5 pytorch-cu2.4
- Python3.8
提前配置：
链接: Ubuntu22.04配置cuda/cudnn/pytorch(Ubuntu20.04也一样用)
运行
创建conda虚拟环境
conda create -n VBC python=3.8
conda activate VBC
下载代码到本地并且配置Isaac gym
git clone git@github.com:Ericonaldo/visual_whole_body.git
cd visual_whole_body
pip install torch torchvision torchaudio
cd third_party/isaacgym/python && pip install -e .
cd ../..
cd rsl_rl && pip install -e .
cd ..
cd skrl && pip install -e .
cd ../.