A Comparative Study on State-Action Spaces for Learning Viewpoint Selection and Manipulation with Diffusion Policy

Tested Hardware

• AMD PRO 5975WX CPU
• Dual 4090
• 128GB RAM

Setup

1. Install the dependencies of the gym

    cd mavis_mujoco
    mamba env create -f environment.yml 
    conda activate mavis-mujoco
    cd xArm-Python-SDK
    python setup.py install
    cd ..
    pip install -e .
   

2. Install other packages

    cd ..
    pip install -r requirements.txt
   

Usage

• To train diffusion policy for the pick-and-place scenario:

  python train_diffusion_policy.py
  

• To perform inference and evaluate all ckeckpoints in a training session:

  python inference_and_eval.py