Bi-DexHands: Bimanual Dexterous Manipulation via Reinforcement Learning

Environment

• Nvidia RTX4060
• Ubuntu20.04 with python3.8
• cuda11.1
• cudnn8.9.5
• torch1.8.1+cu111
• torchvision0.9.1
• torchaudio0.8.1
• (editor: vscode)

Work

Create a new task called allegro_hand_catch_point_cloud in task/AllegroHandCatchPointCloud.py. Pass python train.py --task=AllegroHandCatchPointCloud --algo=ddpg in DexterousHands/bidexhands/ to train.

ps

If raise the error RuntimeError: nvrtc: error: invalid value for --gpu-architecture (-arch), remove @torch.jit.script in isaacgym/torch_utils.py and task/AllegroHandCatchPointCloud.py.