HULC++

Grounding Language with Visual Affordances over Unstructured Data

Oier Mees, Jessica Borja-Diaz, Wolfram Burgard

HULC++ was nominated as finalist for the Best Paper Award in Robot Learning at the IEEE International Conference on Robotics and Automation (ICRA) 2023

We present HULC++ (Hierarchical Universal Language Conditioned Policies) 2.0, a novel approach to efficiently learn general-purpose language-conditioned robot skills from unstructured, offline and reset-free data by exploiting a self-supervised visuo-lingual affordance model, which requires annotating as little as 1% of the total data with language. We find that when paired with LLMs to break down abstract natural language instructions into subgoals via few-shot prompting, our method is capable of completing long-horizon, multi-tier tasks in the real world, while requiring an order of magnitude less data than previous approaches.

Installation

To begin, clone this repository locally

git clone --recurse-submodules https://github.com/mees/hulc2.git
export HULC_ROOT=$(pwd)/hulc2

Install requirements:

cd $HULC_ROOT
conda create -n hulc2_venv python=3.9  # or use virtualenv
conda activate hulc2_venv
sh install.sh

If you encounter problems installing pyhash, you might have to downgrade setuptools to a version below 58.

Download

Task-Agnostic Real World Robot Play Dataset

We host the multimodal 9 hours of human teleoperated play dataset on kaggle. Download the dataset:

cd $HULC2_ROOT/dataset
kaggle datasets download -d oiermees/taco-robot

CALVIN Dataset

If you want to train on the simulated CALVIN dataset, choose a split with:

cd $HULC2_ROOT/dataset
sh download_data.sh D | ABC | ABCD | debug

If you want to get started without downloading the whole dataset, use the argument debug to download a small debug dataset (1.3 GB).

Pre-trained Models

Download the HULC2 model checkpoints trained on the real world play dataset.

$ wget http://hulc2.cs.uni-freiburg.de/model_weights/real_world_checkpoints.zip
$ unzip real_world_checkpoints.zip

Training

1. Affordance Model

2. Model-free Policy By default a training for the CALVIN simulated environment will be started:

python hulc2/training.py trainer.devices=-1 datamodule.root_data_dir=path/to/dataset

To train the policy on the real world dataset, you can change the default config file:

python hulc2/training.py trainer.devices=-1 datamodule.root_data_dir=path/to/dataset --config-name cfg_low_level_rw

By default we backprop through the language encoder, if you want to use pretrained language embeddings, you can add the following arguments datamodule.datasets.lang_dataset.load_lang_embeddings=true model/language_encoder=none

Evaluation

See detailed inference instructions on the CALVIN repo to evaluate on the CALVIN benchmark.

python hulc2/evaluation/evaluate_policy.py --dataset_path <PATH/TO/DATASET> --train_folder <PATH/TO/TRAINING/FOLDER>

Optional arguments:

• --checkpoint <PATH/TO/CHECKPOINT>: by default, the evaluation loads the last checkpoint in the training log directory. You can instead specify the path to another checkpoint by adding this to the evaluation command.
• --debug: print debug information and visualize environment.

To evaluate the full approach on the real world with a Panda robot, use:

python hulc2/rollout/real_world_eval_combined.py --dataset_path <PATH/TO/DATASET> --train_folder <PATH/TO/TRAINING/FOLDER>

You might need to specify the paths to your checkpoints in the cfg_high_level_rw config.

Set --train_folder $HULC2_ROOT/real_world_checkpoints/aff_model_single to evaluate our pre-trained models.

Acknowledgements

This work uses code from the following open-source projects and datasets:

CALVIN

Original: https://github.com/mees/calvin License: MIT

HULC

Original: https://github.com/mees/hulc License: MIT

VAPO

Original: https://github.com/mees/vapo License: MIT

Robot-IO

Original: https://github.com/mees/robot_io License: LGPL-3

Sentence-Transformers

Original: https://github.com/UKPLab/sentence-transformers License: Apache 2.0

CLIPort

Original: https://github.com/cliport/cliport License: Apache 2.0

R3M

Original: https://github.com/facebookresearch/r3m License: MIT

CLIP

Original: https://github.com/openai/CLIP License: MIT

Citations

If you find the code useful, please consider citing:

HULC++

@inproceedings{mees23hulc2,
title={Grounding  Language  with  Visual  Affordances  over  Unstructured  Data},
author={Oier Mees and Jessica Borja-Diaz and Wolfram Burgard},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year={2023},
address = {London, UK}
}

HULC

@article{mees2022hulc,
  author={Oier Mees and Lukas Hermann and Wolfram Burgard},
  title={What Matters in Language Conditioned Robotic Imitation Learning Over Unstructured Data},
  journal={IEEE Robotics and Automation Letters (RA-L)},
  volume={7},
  number={4},
  pages={11205-11212},
  year={2022}
}

VAPO

@inproceedings{borja22icra,
author = {Jessica Borja-Diaz and Oier Mees and Gabriel Kalweit and  Lukas Hermann and Joschka Boedecker and Wolfram Burgard},
title = {Affordance Learning from Play for Sample-Efficient Policy Learning},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation  (ICRA)},
year = 2022,
address = {Philadelphia, USA}
}

CALVIN

@article{mees2022calvin,
author = {Oier Mees and Lukas Hermann and Erick Rosete-Beas and Wolfram Burgard},
title = {CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks},
journal={IEEE Robotics and Automation Letters (RA-L)},
volume={7},
number={3},
pages={7327-7334},
year={2022}
}

License

MIT License