| --- |
| 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) |
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|
