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M2CURL: Sample-Efficient Multimodal Reinforcement Learning via Self-Supervised Representation Learning for Robotic Manipulation

This repository contains the code for the paper "M2CURL: Sample-Efficient Multimodal Reinforcement Learning via Self-Supervised Representation Learning for Robotic Manipulation"

Authors: Fotios Lygerakis, Vedant Dave, and Elmar Rueckert.

Project page: https://sites.google.com/view/M2CURL/home

The code is based on the Tactile Gym 2 repository. For details about the Tactile Gym 2 simulator please visit their repository.

Clone the Repository and Setup Environment

To get started, clone this repository to your local machine and set up a Python virtual environment or a Conda environment:

Clone the repository

  git clone https://github.com/your_username/m2curl_project.git
  cd m2curl_project

Create and activate a Python virtual environment

  python -m venv env
  source env/bin/activate

Or create and activate a Conda environment

  conda create --name m2curl_env python=3.10
  conda activate m2curl_env

Installation

Prerequisites

Make sure you have the following prerequisites installed on your system:

  • Python 3.10
  • Ubuntu 22.04
  • CUDA (>=11.8) if you're using GPU acceleration

Installation Steps

  1. Install PyTorch and its dependencies:

    pip install torch==2.0.0 torchvision==0.15.1 torchaudio==2.0.1 --index-url https://download.pytorch.org/whl/cu118

  2. Set the CUDA library path:

    export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH

  3. Install setuptools and wheel:

    pip install setuptools==65.5.0 "wheel<0.40.0"

  4. Install the project:

    python setup.py install

  5. Navigate to the stable-baselines3-contrib directory:

    cd stable-baselines3-contrib/

  6. Install stable-baselines3-contrib:

    python setup.py install

Training

To train an RL agent, follow these steps:

  1. Navigate to the sb3_helpers directory:

    cd ../tactile_gym/sb3_helpers/

  2. Run the training script:

    python train_agent.py -A mvitac_sac -E object_push-v0 -O visuotactile --total_timesteps 500_000

Replace the arguments -A, -E, -O, and --total_timesteps with your desired values. Here's the list of available arguments:

- `-A`, `--algo_name`: Algorithm name (`ppo`, `sac`, `rad_ppo`, `rad_sac`, `mvitac_sac`, `mvitac_ppo`).
- `-E`, `--env_name`: Environment name.
- `-O`, `--observation_mode`: Observation mode.
- `-S`, `--tactile_sensor_name`: Tactile sensor name.
- `--total_timesteps`: Total training timesteps.
- `--n_stack`: Number of frames to stack.
- `--use_wandb`: Whether to use Wandb for logging (True/False).
- `--eval_freq`: Evaluation frequency.
- `--buffer_size`: Replay buffer size.
- `--n_envs`: Number of parallel environments.
- `--learning_starts`: Learning starts.
- `--n_steps`: Number of steps per gradient update.
- `--beta`: Beta value (for `mvitac_sac` and `mvitac_ppo` algorithms).
- `--reward_mode`: Reward mode.
- `--seed`: Random seed.
- `--lambda_visual`: Lambda value for visual features (for `mvitac_sac` and `mvitac_ppo` algorithms).
- `--lambda_tactile`: Lambda value for tactile features (for `mvitac_sac` and `mvitac_ppo` algorithms).
- `--lambda_visual_to_tactile`: Lambda value for visual-to-tactile features (for `mvitac_sac` and `mvitac_ppo` algorithms).
- `--tau`: Temperature (for `mvitac_sac` and `mvitac_ppo` algorithms).

Cite this work as:

@INPROCEEDINGS{10597462,
  author={Lygerakis, Fotios and Dave, Vedant and Rueckert, Elmar},
  booktitle={2024 21st International Conference on Ubiquitous Robots (UR)}, 
  title={M2CURL: Sample-Efficient Multimodal Reinforcement Learning via Self-Supervised Representation Learning for Robotic Manipulation}, 
  year={2024},
  volume={},
  number={},
  pages={490-497},
  keywords={Representation learning;Visualization;Heuristic algorithms;Scalability;Reinforcement learning;Self-supervised learning;Robot sensing systems},
  doi={10.1109/UR61395.2024.10597462}}