tasks

Tasks

Descriptions

This folder contains a total of 10 goal-conditioned (language or image) and 8 demo-conditioned (original TransporterNets) tasks. 8 out of the 10 goal-conditioned tasks contain two splits: seen and unseen. The full version is a union of both seen and unseen attributes made specifically for multi-attr training. Sequential tasks that involve following instructions in a specific order are indicated by seq in their names.

See init.py for the full list of demo-conditioned and goal-conditioned (language or image) tasks:

# demo conditioned
'align-box-corner': AlignBoxCorner,
'assembling-kits': AssemblingKits,
'assembling-kits-easy': AssemblingKitsEasy,
'block-insertion': BlockInsertion,
'block-insertion-easy': BlockInsertionEasy,
'block-insertion-nofixture': BlockInsertionNoFixture,
'block-insertion-sixdof': BlockInsertionSixDof,
'block-insertion-translation': BlockInsertionTranslation,
'manipulating-rope': ManipulatingRope,
'packing-boxes': PackingBoxes,
'palletizing-boxes': PalletizingBoxes,
'place-red-in-green': PlaceRedInGreen,
'stack-block-pyramid': StackBlockPyramid,
'sweeping-piles': SweepingPiles,
'towers-of-hanoi': TowersOfHanoi,

# goal conditioned
'align-rope': AlignRope,
'assembling-kits-seq-seen-colors': AssemblingKitsSeqSeenColors,
'assembling-kits-seq-unseen-colors': AssemblingKitsSeqUnseenColors,
'assembling-kits-seq-full': AssemblingKitsSeqFull,
'packing-shapes': PackingShapes,
'packing-boxes-pairs-seen-colors': PackingBoxesPairsSeenColors,
'packing-boxes-pairs-unseen-colors': PackingBoxesPairsUnseenColors,
'packing-boxes-pairs-full': PackingBoxesPairsFull,
'packing-seen-google-objects-seq': PackingSeenGoogleObjectsSeq,
'packing-unseen-google-objects-seq': PackingUnseenGoogleObjectsSeq,
'packing-seen-google-objects-group': PackingSeenGoogleObjectsGroup,
'packing-unseen-google-objects-group': PackingUnseenGoogleObjectsGroup,
'put-block-in-bowl-seen-colors': PutBlockInBowlSeenColors,
'put-block-in-bowl-unseen-colors': PutBlockInBowlUnseenColors,
'put-block-in-bowl-full': PutBlockInBowlFull,
'stack-block-pyramid-seq-seen-colors': StackBlockPyramidSeqSeenColors,
'stack-block-pyramid-seq-unseen-colors': StackBlockPyramidSeqUnseenColors,
'stack-block-pyramid-seq-full': StackBlockPyramidSeqFull,
'separating-piles-seen-colors': SeparatingPilesSeenColors,
'separating-piles-unseen-colors': SeparatingPilesUnseenColors,
'separating-piles-full': SeparatingPilesFull,
'towers-of-hanoi-seq-seen-colors': TowersOfHanoiSeqSeenColors,
'towers-of-hanoi-seq-unseen-colors': TowersOfHanoiSeqUnseenColors,
'towers-of-hanoi-seq-full': TowersOfHanoiSeqFull,

Adding New Tasks

See put_block_in_bowl.py for an example on how a task is specified. Creating a new task involves: (1) setting up a scene with the desired objects, (2) specifying goals with a language instruction and target "zones" or "poses", (3) defining an evaluation metric that is either sequential or non-sequential. See the original Ravens codebase for more details on task specification and organization.

Correcting COM for Google Scanned Objects

By default all Google Scanned Objects have COMs (Center of Mass) at the base of the object, which leads to weird behavior with the physics engine. To correct this, I manually edited the COM of each .obj file to be the geometric center of the mesh with Blender. See this guide on editing COMs for reference. After correction, the original .obj can be overwritten using Blender's Export option.

Credit

All demo-conditioned are from Ravens. The language-conditioned tasks were built-off the same PyBullet environments.