PyTorch Implementation of "BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning"

Installation

Create conda environment from environment.yml:

mamba env create -f environment.yml

Install CoppeliaSim

Donwload and extract to EDIT/ME/PATH/TO/COPPELIASIM/INSTALL/DIR

Add following to ~/.bashrc:

export COPPELIASIM_ROOT=EDIT/ME/PATH/TO/COPPELIASIM/INSTALL/DIR
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$COPPELIASIM_ROOT
export QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT

Install RLBench

pip install git+https://github.com/stepjam/RLBench.git --no-deps
pip install git+https://github.com/stepjam/PyRep.git --no-deps