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Real-Robot Round-Robin Behavior Cloning (R2BC)

The simulation code can be found at (https://github.com/aria-lab-code/R2BC)[https://github.com/aria-lab-code/R2BC]

Setup

You must have ROS noetic and Python 3.10

pip install -r requirements.txt

You must also download the packages associated with the (HeRO software)[https://verlab.github.io/hero_common/]

Instructions

  1. Turn on real robots and wait for the LED status to shift from RED
  2. In ~/catkin_ws, run "bash hero_wifi.bash"
  3. Start the central control server with "roslaunch r2bc_real full_control.launch"
  4. Run the sim2real bc with "cd src && python bc_w_interventions.py"