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contrastive domain randomization

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Contrastive Domain Randomization

This code used for experiments in the paper "Unsupervised Feature Learning for Manipulation with Contrastive Domain Randomization".

Installation

This project was run using Python 3.7. All the dependencies are specified in the requirements.txt file. use "pip install -r requirements.txt" to install on your virtual environment.

Generate data

Run franka_panda/generate_videos.py to generate a dataset.

Training and evaluation

Run train.py to start training

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  • Python 100.0%