A collection of simulated tasks in PyBullet for learning vision-based robotic manipulation
Ravens – Transporter Networks
Ravens is a collection of simulated tasks in PyBullet for learning vision-based robotic manipulation, with emphasis on pick and place. It features a Gym-like API with 10 tabletop rearrangement tasks, each with (i) a scripted oracle that provides expert demonstrations (for imitation learning), and (ii) reward functions that provide partial credit (for reinforcement learning).
(a) block-insertion: pick up the L-shaped red block and place it into the L-shaped fixture.
(b) place-red-in-green: pick up the red blocks and place them into the green bowls amidst other objects.
(c) towers-of-hanoi: sequentially move disks from one tower to another—only smaller disks can be on top of larger ones.
(d) align-box-corner: pick up the randomly sized box and align one of its corners to the L-shaped marker on the tabletop.
(e) stack-block-pyramid: sequentially