This respiratory contains the code for AAAI-2024 accepted paper: Focus-Then-Decide: Segmentation-Assisted Reinforcement Learning
You can directly install the dependencies using the provided setup.sh file.
./setup.shBelow are running commands of running FTD and baseline algorithms. Please replace algo, env, and task with corresponding arguments (e.g. ./scripts/run.sh ftd franka reach).
./scripts/run.sh algo env taskIf everything goes well, this should yield an output of the form
Working directory: logs/franka_reach/ftd/20231228-170531
Observation space: (81, 84, 84)
Action space: (8,)
=====Start training=====
Evaluating: logs/franka_reach/ftd/20231228-170531
| eval | S: 0 | ERTEST: 1.8151e+01
| train | E: 1 | S: 250 | D: 93.8 s | R: 0.0000e+00 | ALOSS: 0.0000e+00 | CLOSS: 0.0000e+00 | RPredLOSS: 0.0000e+00 | APredLOSS: 0.0000e+00
| train | E: 2 | S: 500 | D: 98.4 s | R: 8.2735e+00 | ALOSS: 0.0000e+00 | CLOSS: 0.0000e+00 | RPredLOSS: 0.0000e+00 | APredLOSS: 0.0000e+00
To run the ablation study, please refer to ./scripts/run_ablation.sh
For more parameter settings, please refer to arguments.py.
If you encounter problems related to rendering, please refer to respiratory of DMC
If you find our work useful in your research, please consider citing our work as follows:
@article{Chen_Focus_2024,
author={Chen, Chao and Xu, Jiacheng and Liao, Weijian and Ding, Hao and Zhang, Zongzhang and Yu, Yang and Zhao, Rui},
title={Focus-Then-Decide: Segmentation-Assisted Reinforcement Learning},
journal={Proceedings of the AAAI Conference on Artificial Intelligence},
volume={38},
number={10},
year={2024},
pages={11240-11248},
DOI={10.1609/aaai.v38i10.29002},
url={https://ojs.aaai.org/index.php/AAAI/article/view/29002}
}