Contributor: Chanyoung Ahn
O-Ring Manipulation for SA-iSRL based on Orbit is a O-Ring manipulation framework for robot learning using SRL model in deep reinforcement learing. We provide five O-Ring manipulation environments and data collection module for learning SRL model.
Orbit is a unified and modular framework for robot learning that aims to simplify common workflows in robotics research (such as RL, learning from demonstrations, and motion planning). It is built upon NVIDIA Isaac Sim to leverage the latest simulation capabilities for photo-realistic scenes and fast and accurate simulation.
Please refer to our documentation page to learn more about the installation steps, features, and tutorials.
We provide five O-Ring manipulation tasks for SA-iSRL model.
- Entangle
Please see the troubleshooting section for common fixes or submit an issue.
For issues related to Isaac Sim, we recommend checking its documentation or opening a question on its forums.
NVIDIA Isaac Sim is available freely under individual license. For more information about its license terms, please check here.
Orbit framework is released under BSD-3 License. The license files of its dependencies and assets are present in the docs/licenses directory.
Please cite this paper if you use this framework in your work:
@misc{chanyoung2024oringmanipulation,
author = {Chanyoung Ahn},
title = {O-Ring Manipulation},
year = {2024},
}
@article{mittal2023orbit,
author={Mittal, Mayank and Yu, Calvin and Yu, Qinxi and Liu, Jingzhou and Rudin, Nikita and Hoeller, David and Yuan, Jia Lin and Singh, Ritvik and Guo, Yunrong and Mazhar, Hammad and Mandlekar, Ajay and Babich, Buck and State, Gavriel and Hutter, Marco and Garg, Animesh},
journal={IEEE Robotics and Automation Letters},
title={Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments},
year={2023},
volume={8},
number={6},
pages={3740-3747},
doi={10.1109/LRA.2023.3270034}
}