SoftAgent

This repository is built based on SoftGym, with modified action space and added new testing environments and action space reduction method. The benchmarked tasks include

• cem_rope_straightening [source]
• cem_rope_folding [source]
• cem_cloth_diagonal_folding [source]
• cem_cloth_side_folding [source]
• cem_cloth_reflective_folding [source]
• cem_cloth_underneath_folding [source]

Installation

1. Install SoftGym by following the instructions in SoftGym repository. Then, copy the softgym code to the SoftAgent root directory so we have the following file structure:

   softagent
   ├── cem
   ├── ...
   ├── softgym
   

2. Update conda env with additional packages required by SoftAgent: conda env update --file environment.yml --prune
3. Activate the conda environment by running . ./prepare_1.0.sh.

Running benchmarked experiments

1. Running rope straightening experiments: cd cem_rope_straightening; python run_cem_rope_straightening.py. Refer to run_cem_rope_straightening.py for different arguments.
2. Running rope straightening experiments: cd cem_rope_folding; python run_cem_rope_folding.py. Refer to run_cem_rope_folding.py for different arguments.
3. Running rope straightening experiments: cd cem_cloth_diagonal_folding; python run_cem_cloth_diagonal_folding.py. Refer to run_cem_cloth_diagonal_folding.py for different arguments.
4. Running rope straightening experiments: cd cem_cloth_side_folding; python run_cem_cloth_side_folding.py. Refer to run_cem_cloth_side_folding.py for different arguments.
5. Running rope straightening experiments: cd cem_cloth_reflective_folding; python run_cem_cloth_reflective_folding.py. Refer to run_cem_cloth_reflective_folding.py for different arguments.
6. Running rope straightening experiments: cd cem_cloth_underneath_folding; python run_cem_cloth_underneath_folding.py. Refer to run_cem_cloth_underneath_folding.py for different arguments.

Cite

If you find this codebase useful in your research, please consider citing:

@inproceedings{icra2023arsoftagent,
 title={Goal-Conditioned Action Space Reduction for Deformable Object Manipulation},
 author={Wang, Shengyin and Papallas, Rafael and Leonetti, Matteo and Dogar, Mehmet},
 booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
 year={2023}
}

References

• softagent repository: https://github.com/Xingyu-Lin/softagent
• Softgym repository: https://github.com/Xingyu-Lin/softgym