File size: 3,422 Bytes
c822bb3 e51f5da c822bb3 e51f5da c822bb3 e51f5da c822bb3 e51f5da c822bb3 e51f5da c822bb3 e51f5da c822bb3 e51f5da | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 | ---
license: mit
library_name: rsl-rl
tags:
- robotics
- reinforcement-learning
- ppo
- genesis
- ufactory
- xarm
- manipulation
---
# UFACTORY Genesis Reinforcement Learning Checkpoints
Pretrained reinforcement learning policy checkpoints for [`ufactory_genesis`](https://github.com/xArm-Developer/ufactory_genesis), built on [Genesis](https://github.com/Genesis-Embodied-AI/Genesis) and `rsl-rl` PPO.
---
## 1. Reach (`reach/`)
Bare-arm target reaching for 5 UFACTORY manipulators (`xarm5`, `xarm6`, `xarm7`, `uf850`, `lite6`):
- **Initial flange TCP pose**: `(300, 0, 300) mm`, `RPY = (180°, 0°, 0°)`
- **Success criterion**: strictly `< 5 mm` terminal distance (`success_distance_m = 0.005`)
- **Control rate**: `50 Hz` (`20 ms` step, `5 s` episode horizon), normalized joint-position increments (`[-1, 1]` -> max `0.01 rad/step`)
- **Training**: `rsl-rl` PPO (`[256, 256, 128]` ELU MLP with Beta distribution), `4096` parallel environments, `300` iterations, seed `7`
### Benchmark & Holdout Validation
Evaluated on two independent holdout seeds (`17000` and `17001`, 512 random targets each):
| Robot (`--robot`) | DOF | Obs / Act Dim | Target Workspace (m) | Checkpoint | Holdout Success Rate (`17000` / `17001`) | Mean Terminal Distance (`17000` / `17001`) |
|---|---:|---:|---|---|---|---:|
| `xarm5` | 5 | 21 / 5 | x `0.15–0.55`, y `-0.30–0.30`, z `0.05–0.50` | `model_299.pt` | **99.6%** / **99.8%** | `4.48` / `4.50 mm` |
| `xarm6` | 6 | 24 / 6 | x `0.15–0.55`, y `-0.30–0.30`, z `0.05–0.50` | `model_299.pt` | **100%** / **100%** | `4.23` / `4.24 mm` |
| `xarm7` | 7 | 27 / 7 | x `0.15–0.55`, y `-0.30–0.30`, z `0.05–0.50` | `model_299.pt` | **99.8%** / **99.2%** | `4.39` / `4.52 mm` |
| `uf850` | 6 | 24 / 6 | x `0.15–0.55`, y `-0.30–0.30`, z `0.05–0.50` | `model_299.pt` | **99.6%** / **99.6%** | `4.26` / `4.34 mm` |
| `lite6` | 6 | 24 / 6 | x `0.15–0.35`, y `-0.20–0.20`, z `0.05–0.35` | `model_299.pt` | **99.8%** / **99.6%** | `4.66` / `4.71 mm` |
---
## Download & Usage
Run from the root of the [`ufactory_genesis`](https://github.com/xArm-Developer/ufactory_genesis) repository:
```bash
# Download all 5 Reach checkpoints into outputs/rl/reach/
hf download UFACTORY-Developer/ufactory_genesis_rl --include "reach/**" --local-dir outputs/rl
# Or download a single robot (e.g. xarm6)
hf download UFACTORY-Developer/ufactory_genesis_rl --include "reach/xarm6-reach/**" --local-dir outputs/rl
```
### Real-time GLB Inference
```bash
# Single arm
python -m examples.rl.reach.visualize \
--checkpoint outputs/rl/reach/xarm6-reach/seed-7/model_299.pt
# Four arms
python -m examples.rl.reach.visualize \
--checkpoint outputs/rl/reach/xarm6-reach/seed-7/model_299.pt -b 4
```
### Quantitative Evaluation
```bash
python -m examples.rl.reach.evaluate \
--checkpoint outputs/rl/reach/xarm6-reach/seed-7/model_299.pt \
-B 128 --episodes 512 --seed 17000 \
--min-success-rate 0.95 --max-mean-distance-m 0.010 \
--quiet-episodes --summary-json outputs/rl/reach/xarm6-reach/seed-7/evaluation-17000.json
```
See the full guides in the code repository:
- [English Guide (`examples/rl/reach/README.md`)](https://github.com/xArm-Developer/ufactory_genesis/blob/main/examples/rl/reach/README.md)
- [Chinese Guide (`examples/rl/reach/README_zh.md`)](https://github.com/xArm-Developer/ufactory_genesis/blob/main/examples/rl/reach/README_zh.md)
|