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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.