polishing-cheq

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Code accompanying the paper "CHEQ-ing the Box: Safe Variable Impedance Learning for Robotic Polishing".

Installation

Creation via virtual environment:

scripts/build.sh

Usage

Training can be performed with the parallel setup. For this open up two shell terminals and activate the virtual environment. Afterwards perform

python learn.py

in the first terminal, followed by

python act.py

in the second terminal.

Logging

The logging of the runs is done with Weights and Biases. It is necessary to create an account and perform an intial login as described on their website. The details of your account can be specified in the config-file.