DEX的作者有出新的一篇ViSkill

git clone --recursive https://github.com/med-air/ViSkill.git
cd ViSkill
conda create -n viskill python=3.8
conda activate viskill
pip3 install -e SurRoL/	# install surrol environments
pip3 install -r requirements.txt
conda install -c intel mpi4py
pip3 install -e .

然後register SurRoL tasks,在～/anaconda3/envs/viskill/lib/python3.8/site-packages/gym/envs/init.py加入

import surrol.gym

然後更改Wandb帳號設定(第一次要先註冊),將~/ViSkill/viskill/configs/skill_learning.yaml跟skill_chaining.yaml的entity_name改成自己在Wandb的帳號
然後執行範例

mkdir SurRoL/surrol/data/demo
python SurRoL/surrol/data/data_generation_bipegtransfer.py --env BiPegTransfer-v0 --subtask grasp
python SurRoL/surrol/data/data_generation_bipegtransfer.py --env BiPegTransfer-v0 --subtask handover
python SurRoL/surrol/data/data_generation_bipegtransfer.py --env BiPegTransfer-v0 --subtask release