System and Tools

Our real robot experiment configuration includes a Franka Emika Panda Arm with a wrist-mounted RGBD camera, an assembly platform where assets are placed, mechanical parts used in our tasks. 

Factory is a research project that consists of simulation methods and robot learning tools for contact-rich interactions, demonstrated for robotic assembly. 

3D-printable CAD models for all parts we designed, as well as a list of all parts we purchased from external vendors. 

RL training environments for peg insertion and gear assembly, including implementations of 3 simulation-based algorithms: simulation-aware policy update, SDF-based dense reward, and sampling-based curriculum.

A lightweight library containing code for policy deployment and training. Specifically, we provide scripts to allow users to quickly deploy policies from Isaac Gym onto a Franka robot.