Use of Rofunc in PyBullet for dual arm robot learning from demonstration

[AdrianPrados]

Hello, good day.
We would like to use Rofunc for learning bi-manipulation tasks with our custom robot. Our model is fully developed in PyBullet. We would like to know if Rofunc can work without direct dependency on IsaacGym and if it could be modified to use PyBullet instead.
Thank you very much for your time.

[Skylark0924]

Of course. The repo is fully decoupled. The algorithms in the learning folder are independent of the simulator. If you wanna use RofuncRL, we have a template https://github.com/Skylark0924/RofuncRL-template and you can refer to https://rofunc.readthedocs.io/en/latest/tutorial/customizeRL.html

[AdrianPrados]

Thank you very much for your quick response. Related to my previous question i would like to ask if all the Imitation learning methods that you mention in your GitHub main page are available or not. I can only see these two algorithms (https://github.com/Skylark0924/Rofunc/tree/main/rofunc/learning/RofuncIL). I would like to know if exist any example of how can be used them or other IL algorithms.
Thank you very much

[Skylark0924]

Oh actually the main branch just has full support for RL methods, IL methods like ACT and diffusion policy have not been updated. Will do later.