Code Structures
Contents
Code Structures#
Here is the overview of the codebase with some comments.
Enviornments#
libero/
assets/ # Where all the object mesh files are stored
bddl_files/ # PDDL file definitions for tasks
libero_goal/*.bddl # 10 tasks of LIBERO-Goal suite
libero_spatial/*.bddl # 10 tasks of LIBERO-Spatial suite
libero_object/*.bddl # 10 tasks of LIBERO-Object suite
libero_10/*.bddl # 10 tasks of LIBERO-100 for evaluation (aka LIBERO-LONG)
libero_90/*.bddl # 90 tasks of LIBERO-100 for pretraining
benchmark/ # Task orders for evaluation of all benchmarks
envs/ # Environment definitions for LIBERO tasks
init_files/ # Fixed initializations for benchmark evaluation
utils/ # Miscellaneous utility functions
Policy, algorithms, and experiments#
lifelong/ # Files for algorithms, models, and training / testing
main.py # the main script for reproducing experiments.
algos/
base.py # Base class `Sequential` for all the algorithms
er.py # Algorithm Experience Replay
ewc.py # Algorithm Elastic Weight Consolidation
packnet.py # Algorithm Packnet
multitask.py # Algorithm multitask (baseline)
single_task.py # Algorithm single task (baseline)
language.py
models/
policy/
bc_rnn_policy.py # ResNet-RNN
bc_transformer_policy.py # ResNet-T
bc_vilt_policy.py # ViT-T
Scripts for dataset creation#
scripts/
collect_demonstrations.py # Collect your own demonstrations
create_dataset.py # Create your own dataset
batch_create_dataset.py # Create a batch of datasets by calling create_dataset.py repeatedly