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RoboMonster: Compositional Generalization of Heterogeneous Embodied Agents

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<h1>RoboMonster: Compositional Generalization of Heterogeneous Embodied Agents</h1>

</div>

## 🧠 Overview
RoboMonster is a compositional embodied manipulation framework and benchmark built on [ManiSkill](https://www.maniskill.ai/) that treats a robot as a team of heterogeneous, specialized end-effectors instead of a single gripper. It pairs a constraint-driven high-level planner with imitation-learned control policies for each tool to select, coordinate, and sequence the right end-effector for each sub-task, showing clear gains over gripper-only baselines.

## 🚀 Quick Start
First, clone this repository to your local machine, and install [vulkan](https://maniskill.readthedocs.io/en/latest/user_guide/getting_started/installation.html#vulkan) and the following dependencies.
```bash
git clone git@github.com:MARS-EAI/RoboMonster.git
conda create -n RoboMonster python=3.9
conda activate RoboMonster
cd RoboMonster
pip install -r requirements.txt
cd RoboMonster
# (optional): conda install -c conda-forge networkx=2.5
```
Then download the 3D assets in RoboMonster task:
```bash
python script/download_assets.py 
```
We use a specific fork version of ManiSkill for RoboMonster: [Maniskill_fork_for_RoboMonster](./Maniskill_fork_for_RoboMonster/), you should replace the mani_skill in your local conda environment!
```bash
# NOTE: the mani_skill install path usually is ~/anaconda3/envs/RoboMonster/lib/python3.9/site-packages/mani_skill/ folder
# Example:
mv -f ../Maniskill_fork_for_RoboMonster/agent/robots/panda {your mani_skill install path}/agent/robots/
mv -f ../Maniskill_fork_for_RoboMonster/assets/robots/panda {your mani_skill install path}/assets/robots/
```
Now, try to run the task with just a line of code:
```bash
# You can choose the variant in ["gripper", "ours"], "gripper" means gripper-only and "ours" means heterogeneous multi-end effectors, for example:
python script/run_task.py configs/table/swipe_card.yaml ours
# or
python script/run_task.py configs/table/circle_vase.yaml gripper
```
For more complex scene like [RoboCasa](https://github.com/robocasa/robocasa), you can download them using the following commands. Note that if you use these scenes in your work please cite the scene dataset authors.
```bash
python -m mani_skill.utils.download_asset RoboCasa
```
After download the scene dataset, you can try to run it:
```bash
python script/run_task.py configs/robocasa/swipe_card.yaml ours
```
### 🛠 Installing OpenGL/EGL Dependencies on Headless Debian Servers

If you are running simulation environments on a **headless Debian server** without a graphical desktop, you will need to install a minimal set of OpenGL and EGL libraries to ensure compatibility.

Run the following commands to install the necessary runtime libraries:

```bash
sudo apt update
sudo apt install libgl1 libglvnd0 libegl1-mesa libgles2-mesa libopengl0
```

## 📦 Generate Data
You can use the following script to generate data for DP2 or DP3. The generated data is usually placed in the demos/ folder.
```bash
# Format: python script/generate_data.py --config {config_path} --num {traj_num} --variant {gripper-only or heterogeneous agent(ours)} [--save-video]
# Generate data for DP2:
python script/generate_data.py --config configs/table/swipe_card.yaml --num 75 --variant ours --save-video
# Generate data for DP3:
python script/generate_data_pointcloud.py --config configs/table/circle_vase.yaml --num 150 --variant gripper --save-video
# For short:
python script/generate_data.py configs/table/swipe_card.yaml 75 ours
```
## 🧪 Train & Evaluate Policy
### Data Processing
The data generated by the ManiSkill framework is in .h5 format. To accelerate training, we restructure the data format.

```bash
# 1. make data folder if it does not exist
mkdir data && mkdir data/h5_data

# 2. move your .h5 and .json file into the data/h5_data folder.
# NOTE: data_type can choose in ["rgb", "pointcloud"], You should follow the naming convention to avoid issues in later scripts.
mv {your_h5_file}.h5 data/h5_data/{task_name}_{data_type}.h5
mv {your_h5_file}.json data/h5_data/{task_name}_{data_type}.json

# 3. run the script to process the data.
# NOTE: This is the script for default config. If you add the additional camera in config yaml, modify the script to adapt the data.
# Example for DP2:
# --load-num is the demonstration number (Identical to {traj_num} in the data generation command.)
python script/convert_data.py data/h5_data/swipe_card_rgb.h5 --agent-num 2 --modality image --load-num 75
# Example for DP3:
python script/convert_data.py data/h5_data/circle_vase_pointcloud.h5 --agent-num 1 --modality pointcloud --load-num 150

# 4. (Optional) you can check our converted .h5 files by the read_h5.py in script/tools/h5py/ folder.
# Example:
cp data/{task_name}_{data_type}.h5 script/tools/h5py/input
python script/tools/h5py/read_h5.py -i data/{task_name}_{data_type}.h5
```

### Train
We currently provide training code for [Diffusion Policy](https://arxiv.org/pdf/2303.04137) (DP) and [3D Diffusion Policy](https://arxiv.org/pdf/2403.03954) (DP3), and we plan to provide more policies in the future.
You can train the DP model through the following code:
```bash
# Format: python policy/Diffusion-Policy/diffusion_policy/workspace/{policy_workspace} --config-name={policy} task={task_config}
# Example for DP2 training:
python policy/Diffusion-Policy/diffusion_policy/workspace/workspace_dp2.py --config-name=dp2 task=2a_swipe_card_2d
# Example for DP3 training:
python policy/Diffusion-Policy/diffusion_policy/workspace/workspace_dp3.py --config-name=dp3 task=1a_circle_vase_3d
```
### Evaluation
Use the .ckpt file (usually in the outputs/ folder) to evaluate your model results after the training is completed. When setting DEBUG_MODE to 1, it will output more info.
```bash
# Example for DP2 inference:
python policy/Diffusion-Policy/eval_dp2.py --config configs/table/swipe_card.yaml --variant ours --ckpt {your_ckpt_path}
# Example for DP3 inference:
python policy/Diffusion-Policy/eval_dp3.py --config configs/table/circle_vase.yaml --variant gripper --ckpt {your_ckpt_path}
```
<!-- ## 🔗 Community & Contact
For any questions or research collaboration opportunities, please don't hesitate to reach out：yiranqin@link.cuhk.edu.cn, faceong02@gmail.com, akikaze@sjtu.edu.cn.

## 📚 BibTeX
```bibtex
@article{qin2025robofactory,
  title={RoboFactory: Exploring Embodied Agent Collaboration with Compositional Constraints},
  author={Qin, Yiran and Kang, Li and Song, Xiufeng and Yin, Zhenfei and Liu, Xiaohong and Liu, Xihui and Zhang, Ruimao and Bai, Lei},
  journal={arXiv preprint arXiv:2503.16408},
  year={2025}
} -->

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