paddlepaddle/paddlerobotics

PaddleRobotics is an open-source algorithm library for robots based on Paddle, including open-source parts such as human-robot interaction, complex motion control, environment perception, SLAM positioning, and navigation.

简体中文 | English

PaddleRobotics

paddleRobotics是基于paddle的机器人开源算法库集，包括人机交互、复杂运动控制、环境感知、slam定位导航等开源算法部分。

人机交互

主动多模交互技术TFVT-HRI

主动多模交互技术是通过视觉、语音、触摸传感器等输入机器人进行决策、输出表情、动作、声音等响应。

• TFVT-HRI

复杂运动控制

四足机器人

通过强化学习，实现四足机器人的行走、避障、越障等功能。

环境感知

通过视觉、雷达、超声波、红外等传感器实时获取当前环境信息，进行数据融合处理，精确判断环境状态。

Slam定位导航

通过感知的环境信息，经算法处理后实现当前可通行区域的判断和多目标跟踪。

许可证书

本项目的发布受Apache 2.0 license许可认证。

如何贡献代码

我们非常欢迎你可以为PaddleRobotics提供代码，也十分感谢你的反馈。

paddlerobotics's Issues

运行 python train.py --task_mode stairstair --ETG_path data/origin_ETG/ESStair_origin.npz报错

pybullet build time: Feb 10 2022 08:59:07
C:\Users\zhaojiu\anaconda3\lib\site-packages\rlschool\quadrupedal\robots\a1.py:92: RuntimeWarning: invalid value encountered in arccos
theta_knee = -np.arccos(
[03-23 17:42:13 MainThread @logger.py:242] Argv: train.py --task_mode stairstair --ETG_path data/origin_ETG/ESStair_origin.npz
cuda
ETG_param_init: (12,)
{'dis': 1, 'motor': 1, 'imu': 1, 'contact': 1, 'footpose': 0, 'ETG': 1, 'ETG_obs': 0, 'dynamic_vec': 0, 'force_vec': 0, 'noise': 0, 'RNN': {'time_steps': 5, 'time_interval': 1, 'mode': 'None'}}
argv[0]=
starting thread 0
started testThreads thread 0 with threadHandle 0000000000000EF0
argc=3
argv[0] = --unused
argv[1] =
argv[2] = --start_demo_name=Physics Server
ExampleBrowserThreadFunc started
Version = 4.6.0 NVIDIA 472.19
Vendor = NVIDIA Corporation
Renderer = NVIDIA GeForce RTX 3080 Laptop GPU/PCIe/SSE2
b3Printf: Selected demo: Physics Server
starting thread 0
started MotionThreads thread 0 with threadHandle 000000000000109C
MotionThreadFunc thread started
c:\users\zhaojiu\gym\gym\spaces\box.py:78: UserWarning: WARN: Box bound precision lowered by casting to float32
logger.warn(f"Box bound precision lowered by casting to {self.dtype}")
C:\Users\zhaojiu\anaconda3\lib\site-packages\rlschool\quadrupedal\robots\minitaur.py:188: DeprecationWarning: Using or importing the ABCs from 'collections' instead of from 'collections.abc' is deprecated si
nce Python 3.3, and in 3.9 it will stop working
if isinstance(motor_kp, (collections.Sequence, np.ndarray)):
obs_dim: 49
Traceback (most recent call last):
File "train.py", line 523, in
main()
File "train.py", line 452, in main
ETG_info = np.load(args.load[:-3] + ".npz")
File "C:\Users\zhaojiu\anaconda3\lib\site-packages\numpy\lib\npyio.py", line 407, in load
fid = stack.enter_context(open(os_fspath(file), "rb"))
FileNotFoundError: [Errno 2] No such file or directory: '.npz'
numActiveThreads = 0
stopping threads
Thread with taskId 0 with handle 000000000000109C exiting
Thread TERMINATED
finished
numActiveThreads = 0
btShutDownExampleBrowser stopping threads
Thread with taskId 0 with handle 0000000000000EF0 exiting
Thread TERMINATED

HRI/TFVT_HRI : No module named 'interaction.common.discrete_uc_ctrl

File "HRI/TFVT_HRI/interaction/action.py", line 2, in
from interaction.common.discrete_uc_ctrl import DiscreteUCController
ModuleNotFoundError: No module named 'interaction.common.discrete_uc_ctrl'

The common directory dont have the discrete_uc_ctrl.py :
data.py data_via_decord.py discrete_ctrl.py init.py pycache utils.py

can you provide it?

thanks

pretrain.py中缺失函数run_evaluate_epiosdes

pretrain.py第264行缺失函数run_evaluate_episodes的定义，能重新发一下这个文件吗？谢谢！

实际部署的npy和pt文件

Hi, 你好，请问你们可以提供你们实际部署到真狗里面的6种场景的npy和pt文件吗，参考论文https://arxiv.org/abs/2109.06409，谢谢！

模型替换问题

您好，想问以下几个问题：
1、论文中用到的四足机器人可以替换吗？比如说我们自己利用三维建模软件建了一个多足机器人，可以替换到这个论文里吗？
2、这个论文中用到的ETG的方法是和RL并行运算的吗？是不是运行train就可以进行训练了？

ETGRL/deployment/test.py库文件robot_interface找不到

在使用提供代码里面的PaddleRobotics/QuadrupedalRobots/ETGRL/deployment/test.py测试时，提示需要安装robot_interface库，这个库在PaddleRobotics/QuadrupedalRobots/ETGRL/deployment/robots/a1_robot.py中被调用，但是我在网络上没有搜索到对应的开源库，请问您那边提供这个库的下载地址吗？

找不到robot_interface module

编译中报错找不到robot_interface module，请问怎样能解决此问题

运行train.py报错 'MujocoModel' object has no attribute 'to'

使用python train.py时报如下错误

Traceback (most recent call last):
File "/home/ros/PaddleRobotics/QuadrupedalRobots/ETGRL/train.py", line 508, in
main()
File "/home/ros/PaddleRobotics/QuadrupedalRobots/ETGRL/train.py", line 331, in main
critic_lr=CRITIC_LR)
File "/home/ros/PaddleRobotics\QuadrupedalRobots\ETGRL\alg\sac.py", line 53, in init
self.model = model.to(device)
AttributeError: 'MujocoModel' object has no attribute 'to'

要是TFVT_HRI的模型可以公开就好了

开发环境搭建倒是不难，难的就是数据的收集，长达数小时的视频数据收集，还有标注，这个工作量实在是大

期待一下

请问TFVT_HRI的模型可以公布吗

代码中 MobileNetV2_Pretrained = 'pretrain_models/MobileNetV2_pretrained' 的模型可以提供吗

运行Dynamic_train.py时报错Exception in thread Thread-2：parl.remote.exceptions.RemoteError: [PARL remote error when calling function __init__]:

作者您好，我运行QuadrupedalRobots/ETGRL/train.py训练是没有问题的，但是运行Dynamic_train.py时出现了下面3个问题，查看Dynamic_train.py同级目录里是有./model/Dynamic_parallel_model.py文件的，请问是什么原因造成的呢？

Exception in thread Thread-2:
parl.remote.exceptions.RemoteError: [PARL remote error when calling function __init__]:

[Errno 2] No such file or directory: './model/Dynamic_parallel_model.py'
FileNotFoundError: [Errno 2] No such file or directory: './model/Dynamic_parallel_model.py'

parl.remote.exceptions.FutureFunctionError: There is an error raised when calling the future function __init__.

完整报错信息

[04-26 20:29:14 MainThread @Dynamic_train.py:71] args:Namespace(K=20, alg='ga', eval=0, gamma=1, load='', outdir='Dynamic', sigma=0.1, steps=10000, suffix='exp0', thread=2, xparl='192.168.30.145:8037')
Exception in thread Thread-5:
Traceback (most recent call last):
File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/threading.py", line 932, in _bootstrap_inner
self.run()
File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/threading.py", line 870, in run
self._target(*self._args, **self._kwargs)
File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/future_mode/proxy_wrapper_nowait.py", line 92, in _run_object_in_backend
raise e
File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/future_mode/proxy_wrapper_nowait.py", line 82, in _run_object_in_backend
self._xparl_remote_wrapper_obj = remote_wrapper(
File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/remote_wrapper.py", line 107, in init
raise RemoteError('init', traceback_str)
parl.remote.exceptions.RemoteError: [PARL remote error when calling function __init__]:
[Errno 2] No such file or directory: './model/Dynamic_parallel_model.py'
traceback:
Traceback (most recent call last):
File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/job.py", line 297, in wait_for_connection
cls = load_remote_class(message[1])
File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/remote_class_serialization.py", line 207, in load_remote_class
with open(file_name + '.py') as t_file:
FileNotFoundError: [Errno 2] No such file or directory: './model/Dynamic_parallel_model.py'

Exception in thread Thread-4:
Traceback (most recent call last):
File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/threading.py", line 932, in _bootstrap_inner
self.run()
File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/threading.py", line 870, in run
self._target(*self._args, **self._kwargs)
File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/future_mode/proxy_wrapper_nowait.py", line 92, in _run_object_in_backend
raise e
File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/future_mode/proxy_wrapper_nowait.py", line 82, in _run_object_in_backend
self._xparl_remote_wrapper_obj = remote_wrapper(
File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/remote_wrapper.py", line 107, in init
raise RemoteError('init', traceback_str)
parl.remote.exceptions.RemoteError: [PARL remote error when calling function __init__]:
[Errno 2] No such file or directory: './model/Dynamic_parallel_model.py'
traceback:
Traceback (most recent call last):
File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/job.py", line 297, in wait_for_connection
cls = load_remote_class(message[1])
File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/remote_class_serialization.py", line 207, in load_remote_class
with open(file_name + '.py') as t_file:
FileNotFoundError: [Errno 2] No such file or directory: './model/Dynamic_parallel_model.py'

Traceback (most recent call last):
File "/mnt/hgfs/虚拟机/PaddleRobotics-main/QuadrupedalRobots/ETGRL/Dynamic_train.py", line 74, in
main()
File "/mnt/hgfs/虚拟机/PaddleRobotics-main/QuadrupedalRobots/ETGRL/Dynamic_train.py", line 72, in main
model.train(args.steps)
File "/mnt/hgfs/虚拟机/PaddleRobotics-main/QuadrupedalRobots/ETGRL/model/Dynamic_parallel_model.py", line 159, in train
mean_re = self.update(epoch)
File "/mnt/hgfs/虚拟机/PaddleRobotics-main/QuadrupedalRobots/ETGRL/model/Dynamic_parallel_model.py", line 128, in update
future_objects.append(self.agent_list[i].batch_sample_episodes(param=solutions[i*self.K:(i+1)*self.K,:],K = self.K))
File "/home/senweihuang/anaconda3/envs/parl/lib/python3.8/site-packages/parl/remote/future_mode/proxy_wrapper_nowait.py", line 144, in getattr
raise self._xparl_remote_object_exception
parl.remote.exceptions.FutureFunctionError: There is an error raised when calling the future function __init__.
You can see the detailed error message above, which is printed by another thread.

Process finished with exit code 1

环境

Ubuntu 18.04
python 3.8
parl = 1.4.0
torch = 1.7.0
rlschool = 1.0.2

@xueeinstein

Dynamic_train时加载data/dynamic/内的数据含义请教

作者您好，我在研读了你们发表的论文后想跑一下这个项目，但是在看域自适应训练代码时遇到一些模糊的地方，想请教一下。

在运行Dynamic_train.py时，下面这行代码：
MEAN_INFO = np.load("data/dynamic/mean_dict_5_18.npz") # data used for dynamic adaptation
加载进来的数据的键分别代表什么意思呢？
dict_keys(['exp_motor_mean', 'exp_motor_std', 'exp_drpy_mean', 'exp_drpy_std', 'ori_motor_mean', 'ori_motor_std', 'ori_drpy_mean', 'ori_drpy_std', 'height_motor_mean', 'height_motor_std', 'height_drpy_mean', 'height_drpy_std'])

下面代码：

GAIT_LIST["exp"] = np.load("data/dynamic/gait_action_list_t0.3.npy")
GAIT_LIST["ori"] = np.load("data/dynamic/gait_action_list_CPG_ori.npy")
GAIT_LIST["height"] = np.load("data/dynamic/gait_action_list_CPG_height.npy")

加载进来的是什么数据呢？不知道您是否方便公开一下，谢谢

@xueeinstein

ValueError: device value error, must be str,

请问一下，我只在仿真环境中跑了train.py, 按照readme的指导，但是报告了一个异常，
ValueError: device value error, must be str, paddle.CPUPlace(), paddle.CUDAPlace(), paddle.CUDAPinnedPlace() or paddle.XPUPlace(), but the type of device is device
我测试了一下，device=cuda, type(decvice) = <class 'torch.device'>, 一直找不到哪里的问题,可以帮忙看一下么？

Evaluation in simulation报错

使用python train.py命令评估模型时报如下错误
python train.py --task_mode stairstair --eval 1 --load data/model/StairStair_3_itr_960231.pt
[10-20 10:50:54 MainThread @logger.py:242] Argv: train.py --task_mode stairstair --eval 1 --load data/model/StairStair_3_itr_960231.pt
pybullet build time: Oct 11 2021 20:59:00
/home/xh/PycharmProjects/pythonProject2/venv/lib/python3.7/site-packages/rlschool-1.0.2-py3.7.egg/rlschool/quadrupedal/robots/a1.py:94: RuntimeWarning: invalid value encountered in arccos
(2 * l_low * l_up))
Traceback (most recent call last):
File "train.py", line 508, in
main()
File "train.py", line 309, in main
enable_action_filter=args.enable_action_filter)
File "/home/xh/PycharmProjects/pythonProject2/venv/lib/python3.7/site-packages/rlschool-1.0.2-py3.7.egg/rlschool/init.py", line 17, in make_env
raise Exception("rlschool.make_env is deprecated. Please do "import rlschool.xxxenv" and use gym.make instead")
Exception: rlschool.make_env is deprecated. Please do "import rlschool.xxxenv" and use gym.make instead

real robot deployment

PaddleRobotics/QuadrupedalRobots/ETGRL/

step3：Real Robot Deployment

question1:An error occurs when running env_test.py.
TypeErro:step() got an unexpected keyword argument 'donef'

question2: An error occurs when running test.py.
ModuleNotFoundError:No module named'model.sac'

奖励函数的设置

你好，想请教一下奖励函数如何设置的问题。
在文件Monitornv.py中，有这样的设置

不知道是否和论文中所阐述的奖励函数对应上了，论文中关于奖励函数的设置感觉比较简单，是否有更详细的说明?