This code release accompanies the following paper:
Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Szymon Rusinkiewicz, Thomas Funkhouser
IEEE Robotics and Automation Letters (RA-L), 2022
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Project Page | PDF | arXiv | Video
Abstract: We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must (i) continually adapt to unexpected changes from its actions, (ii) maintain fine-grained control, since the slightest misstep can result in large unintended consequences (e.g., scatter objects already in a pile), and (iii) infer long-range plans (e.g., move the robot to strategic blowing locations). We tackle these challenges in the context of deep reinforcement learning, introducing a multi-frequency version of the spatial action maps framework. This allows for efficient learning of vision-based policies that effectively combine high-level planning and low-level closed-loop control for dynamic mobile manipulation. Experiments show that our system learns efficient behaviors for the task, demonstrating in particular that blowing achieves better downstream performance than pushing, and that our policies improve performance over baselines. Moreover, we show that our system naturally encourages emergent specialization between the different subpolicies spanning low-level fine-grained control and high-level planning. On a real mobile robot equipped with a miniature air blower, we show that our simulation-trained policies transfer well to a real environment and can generalize to novel objects.
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We recommend using a conda environment for this codebase. The following commands will set up a new conda environment with the correct requirements (tested on Ubuntu 18.04.6 LTS):
# Create and activate new conda env
conda create -y -n my-conda-env python=3.7.10
conda activate my-conda-env
# Install mkl numpy
conda install -y numpy==1.20.2
# Install pytorch
conda install -y pytorch==1.2.0 torchvision==0.4.0 cudatoolkit=10.0 -c pytorch
# Install pip requirements
pip install -r requirements.txt
# Install shortest paths module (used in simulation environment)
cd shortest_paths
python setup.py build_ext --inplaceWe provide pretrained policies for each test environment. The download-pretrained.sh script will download the pretrained policies and save their configs and network weights into the logs and checkpoints directories, respectively. Use the following command to run it:
./download-pretrained.shYou can then use enjoy.py to run a pretrained policy in the simulation environment. Here are a few examples you can try:
python enjoy.py --config-path logs/pretrained-blowing_1-small_empty-multifreq_4/config.yml
python enjoy.py --config-path logs/pretrained-blowing_1-large_empty-multifreq_4/config.yml
python enjoy.py --config-path logs/pretrained-blowing_1-large_columns-multifreq_4/config.yml
python enjoy.py --config-path logs/pretrained-blowing_1-large_door-multifreq_4/config.yml
python enjoy.py --config-path logs/pretrained-blowing_1-large_center-multifreq_4/config.ymlYou should see the pretrained policy running in the PyBullet GUI that pops up.
You can also run enjoy.py without specifying a config path, and it will list all policies in the logs directory and allow you to pick one to run:
python enjoy.pyThe config/experiments directory contains the template config files used for all experiments in the paper. To start a training run, you can provide one of the template config files to the train.py script. For example, the following will train a multi-frequency blowing policy in the SmallEmpty environment:
python train.py --config-path config/experiments/multifreq/blowing_1-small_empty-multifreq_4.ymlThe training script will create a log directory and checkpoint directory for the new training run inside logs/ and checkpoints/, respectively. Inside the log directory, it will also create a new config file called config.yml, which stores training run config variables and can be used to resume training or to load a trained policy for evaluation.
To interactively explore the simulation environment using our dense action space (spatial action maps), you can use tools_interactive_gui.py, which will load an environment and allow you to click on the agent's local overhead map to select navigational endpoints (each pixel is an action). Since the blowing robot has a 2-channel action space, the GUI will show two copies of the overhead map, one per action space channel. The first channel is for the move-without-blowing action type, and the second channel is for the turn-while-blowing action type.
python tools_interactive_gui.pyTrained policies can be evaluated using the evaluate.py script, which takes in the config path for the training run. For example, to evaluate the pretrained multi-frequency blowing policy in the SmallEmpty environment, you can run:
python evaluate.py --config-path logs/pretrained-blowing_1-small_empty-multifreq_4/config.yml
This will load the trained policy from the specified training run, and run evaluation on it. The results are saved to an .npy file in the eval directory. You can then run jupyter notebook and navigate to eval_summary.ipynb to load the .npy files and generate tables and plots of the results.
We train policies in simulation and run them directly on the real robot by mirroring the real environment inside the simulation. To do this, we first use ArUco markers to estimate 2D pose of the robot in the real environment, and then use the estimated pose to update the simulation. Note that setting up the real environment, particularly the marker pose estimation, can take a fair amount of time and effort.
If you previously ran pip install -r requirements.txt following the installation instructions above, the anki_vector library should already be installed. Run the following command to set up the robot:
python -m anki_vector.configureAfter the setup is complete, you can open the Vector config file located at ~/.anki_vector/sdk_config.ini to verify that your robot is present.
You can also run some of the official examples to verify that the setup procedure worked. For further reference, please see the Vector SDK documentation.
The following command will try to connect to all the robots in your Vector config file and keep them still. It will print out a message for each robot it successfully connects to, and can be used to verify that the Vector SDK can connect to all of your robots.
python vector_keep_still.pyNote: If you get the following error, you will need to make a small fix to the anki_vector library.
AttributeError: module 'anki_vector.connection' has no attribute 'CONTROL_PRIORITY_LEVEL'
Locate the anki_vector/behavior.py file inside your installed conda libraries. The full path should be in the error message. At the bottom of anki_vector/behavior.py, change connection.CONTROL_PRIORITY_LEVEL.RESERVE_CONTROL to connection.ControlPriorityLevel.RESERVE_CONTROL.
Sometimes the IP addresses of your robots will change. To update the Vector config file with new IP addresses, you can run the following command:
python vector_run_mdns.pyThe script uses mDNS to find all Vector robots on the local network, and will automatically update their IP addresses in the Vector config file. It will also print out the hostname, IP address, and MAC address of every robot found. Make sure zeroconf is installed (pip install zeroconf==0.24.0) or mDNS may not work well. Alternatively, you can just open the Vector config file at ~/.anki_vector/sdk_config.ini in a text editor and manually update the IP addresses.
The vector_keyboard_controller.py script is adapted from the remote control example in the official SDK, and can be used to verify that you are able to control the robot using the Vector SDK. Use it as follows:
python vector_keyboard_controller.py --robot-index ROBOT_INDEXThe --robot-index argument specifies the robot you wish to control and refers to the index of the robot in the Vector config file (~/.anki_vector/sdk_config.ini).
Please reference the videos on the project page when building the real environment setup.
We built the walls using 50 cm x 44 mm strips of Elmer's Foam Board. We also use several 3D printed parts, which we printed using the Sindoh 3DWOX 1 3D printer (with PLA filament). All 3D model files are in the stl directory.
Here are the different parts to 3D print for the real environment setup:
wall-support.stl: triangular supports used to secure the walls to the tabletoprounded-corner.stl: rounded blocks installed in corners of the environment to allow pushing through cornersboard-corner.stl: used for robot pose estimation with ArUco markersblower-tube.stl: attach to front of the air blower, allows the blowing robot to blow more accuratelypushing-attachment.stl: attach to front of Vector's lift, allows the pushing robot to push objects more predictably
Note that all robot attachments need to be secured to the robot (using tape, for example). The robots will not be able to reliably execute their end effector action with loose attachments.
To represent the target receptacle, the receptacle.pdf file in the printouts directory can be printed out and installed in the top right corner of the room.
First see the aruco directory for instructions on setting up pose estimation with ArUco markers.
Once the setup is completed, make sure the pose estimation server is started before proceeding:
cd aruco
python server.pyWe can use tools_interactive_gui.py from before to manually control a robot in the real environment too, which will allow us to verify that all components of the real setup are working properly, including pose estimation and robot control. See the main function in tools_interactive_gui.py for the appropriate arguments. You will need to enable real and provide the appropriate robot index for real_robot_indices. You can then run the same command from before to start the GUI:
python tools_interactive_gui.pyYou should see that the simulation environment in the PyBullet GUI mirrors the real setup with millimeter-level precision. If the poses in the simulation do not look correct, you can restart the pose estimation server with the --debug flag to enable debug visualizations:
cd aruco
python server.py --debugOnce you have verified that manual control with tools_interactive_gui.py works, you can then run a trained policy using enjoy.py from before. For example, to run the pretrained multi-frequency blowing policy in the SmallEmpty environment, you can run:
python enjoy.py --config-path logs/pretrained-blowing_1-small_empty-multifreq_4/config.yml --real --real-robot-indices 0For debugging and visualization, tools_interactive_gui.py allows you to load a trained policy and interactively run the policy one step at a time while showing Q-value maps and transitions. For example:
python tools_interactive_gui.py --config-path logs/pretrained-blowing_1-small_empty-multifreq_4/config.ymlIf you find this work useful for your research, please consider citing:
@article{wu2022learning,
title = {Learning Pneumatic Non-Prehensile Manipulation with a Mobile Blower},
author = {Wu, Jimmy and Sun, Xingyuan and Zeng, Andy and Song, Shuran and Rusinkiewicz, Szymon and Funkhouser, Thomas},
journal = {IEEE Robotics and Automation Letters},
year = {2022}
}