54 lines
1.4 KiB
Markdown
54 lines
1.4 KiB
Markdown
# Robotics Transformer
|
|
|
|
*This is not an officially supported Google product.*
|
|
|
|
|
|
This repository is a collection code files and artifacts for running
|
|
Robotics Transformer or RT-1.
|
|
|
|
## Features
|
|
|
|
* Film efficient net based image tokenizer backbone
|
|
* Token learner based compression of input tokens
|
|
* Transformer for end to end robotic control
|
|
* Testing utilities
|
|
|
|
## Getting Started
|
|
|
|
### Installation
|
|
Clone the repo
|
|
```bash
|
|
git clone https://github.com/google-research/robotics_transformer.git
|
|
pip install -r robotics_transformer/requirements.txt
|
|
python -m robotics_transformer.tokenizers.action_tokenizer.test
|
|
```
|
|
|
|
### Running Tests
|
|
|
|
To run RT-1 tests, you can clone the git repo and run
|
|
[bazel](https://bazel.build/):
|
|
|
|
```bash
|
|
git clone https://github.com/google_research/robotics_transformer.git
|
|
cd robotics_transformer
|
|
bazel test ...
|
|
```
|
|
|
|
### Using trained checkpoints
|
|
Checkpoints are included in trained_checkpoints/ folder for three models:
|
|
1. RT-1 trained on 700 tasks
|
|
2. RT-1 jointly trained on EDR and Kuka data
|
|
3. RT-1 jointly trained on sim and real data
|
|
They are tensorflow SavedModel files. Instructions on usage can be found (here)[https://www.tensorflow.org/guide/saved_model]
|
|
|
|
|
|
## Future Releases
|
|
|
|
The current repository includes an initial set of libraries for early adoption.
|
|
More components may come in future releases.
|
|
|
|
## License
|
|
|
|
The Robotics Transformer library is licensed under the terms of the Apache
|
|
license.
|