Task2Morph (IROS2023)

This repository contains the implementation for the paper Task2Morph: Differentiable Task-inspired Framework for Robot Design (2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)).

Paper: https://arxiv.org/abs/2403.19093

In this paper, we propose a novel and general differentiable task-inspired framework for robot design called Task2Morph. We abstract task features highly related to task performance and use them to build a task-to-morphology mapping. Further, we embed the mapping into a differentiable robot design process, where the gradient information is leveraged for both the mapping learning and the whole optimization.

Our paper cites DiffHand https://github.com/eanswer/DiffHand.git

@INPROCEEDINGS{Xu-RSS-21, 
    AUTHOR    = {Jie Xu AND Tao Chen AND Lara Zlokapa AND Michael Foshey AND Wojciech Matusik AND Shinjiro Sueda AND Pulkit Agrawal}, 
    TITLE     = {{An End-to-End Differentiable Framework for Contact-Aware Robot Design}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2021}, 
    ADDRESS   = {Virtual}, 
    MONTH     = {July}, 
    DOI       = {10.15607/RSS.2021.XVII.008} 
} 

Installation

We provides two methods for installation of the code. Install on local machine and Install by Docker.

Option 1: Install on Local Machine

Operating System: tested on Ubuntu 16.04 and Ubuntu 18.04

1. Clone the project from github: git clone https://github.com/Caiyishuai/Task2Morph.git --recursive .

2. Install CMake >= 3.1.0: official instruction for cmake installation

3. build conda environment and install simulation

   cd Task2Morph
   conda env create -f environment.yml
   conda activate task2morph
   cd core
   python setup.py install
   

4. Test the installation

   cd examples
   python test_redmax.py
   

   If you see a simulation rendering with a two-link pendulum as below, you have successfully installed the code base.

   

Option 2: Install by Docker

We provide a docker installation in the docker folder. Follow the readme instruction in docker folder to complete the installation.

Run the Code

Run the examples in the paper

We include the three co-design scenario inspired by DiffHand from the paper in the tak2mroph folder.

• Finger Reach
• Flip Box
• Rotate Plank

To run our method , you can enter the corresponding folder and run demo.sh under the folder. For example, to run Finger Reach

cd tak2mroph/01_finger_reach
bash demo.sh

or

cd task2morph/01_finger_reach
python 03_reach_Task2Morph.py

If you want to run the DiffHand method

cd task2morph/01_finger_reach
python 02_reach_DiffHand.py

If you want to train a task-to-morphology mapping

cd task2morph/01_finger_reach
python 01_reach_train_model.py

Paper and Citation

If you find our work useful, please consider citing us!

@inproceedings{cai2023task2morph,
  title={Task2Morph: Differentiable Task-Inspired Framework for Contact-Aware Robot Design},
  author={Cai, Yishuai and Yang, Shaowu and Li, Minglong and Chen, Xinglin and Mao, Yunxin and Yi, Xiaodong and Yang, Wenjing},
  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={452--459},
  year={2023},
  organization={IEEE}
}