cross_embodiment_transfer

1. Install packpages

pip install -r requirements.txt

2. Install robosuite fork

git clone https://github.com/tianyudwang/robosuite
cd robosuite
pip install -e .

3. Data generation

python3 generate_demos.py --robot Panda
python3 generate_demos.py --robot Sawyer

4. Train source Panda robot policy

python3 train_bc.py --config configs/Reach/BC_JV.yml

5. Alignment on target Sawyer robot

python3 train_align.py --config configs/Reach/align.JV.yml

6. Visualize

python3 visualize.py --config configs/Sawyer/eval.yml