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rsl-rl "Isaac-Lift-Cube-Franka-v0" franka only reach but doesn't lift #204
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I added this reward to franka lift mdp and the training is now successful. Though I don't quite like this reward, I'd love to know if there's a better way to shape this reward. |
# Description Currently, we are downgrading many libraries to be able to use the Gym 0.21.0 version. However, this is not great and is causing issues installing new Python packages, as highlighted in isaac-sim#204. It is becoming a more significant issue with Python 3.10 in Isaac Sim 2023.1. This MR upgrades the repository to use the Gymnasium Environment class. ## Type of Change - Bug fix (non-breaking change which fixes an issue) - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: David Hoeller <dhoeller@ethz.ch>
I tried that environment but with IK relative input, and worked for me is to put more weight the lift (30/50) and to train for 15K episodes. The lift generally happens around 8K episodes. I also managed to lift within 1.5K episodes with a lift weight of 100 but I was not satisfied with the final motion of the arm. |
# Description Currently, we are downgrading many libraries to be able to use the Gym 0.21.0 version. However, this is not great and is causing issues installing new Python packages, as highlighted in isaac-sim#204. It is becoming a more significant issue with Python 3.10 in Isaac Sim 2023.1. This MR upgrades the repository to use the Gymnasium Environment class. ## Type of Change - Bug fix (non-breaking change which fixes an issue) - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: David Hoeller <dhoeller@ethz.ch>
As you can see from the training script, franka lift reward is CONSTANTLY nearly zero
Episode Reward/lifting_object: 0.0000,
If disable the headless mode and inspect franka's learning progresss,
I will notice that franka first would try to close its finger randomly when it didn't learn how to reach to cube.
but once the cube is reached, it learned it needs to keep the fingers open, but it failed to learn that it needs to close the clow after cube is reached.
I will try to make it work in my best effort.
It will be nice if the demo are all working!
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