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Skylark0924 authored Apr 25, 2024
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Expand Up @@ -62,8 +62,11 @@ To give you a quick overview of the pipeline of `rofunc`, we provide an interest
from human demonstration. You can find it in the [Quick start](https://rofunc.readthedocs.io/en/latest/quickstart.html)
section of the documentation.

The available functions and plans can be found as follows.


<details>
<summary>The available functions and plans can be found as follows.</summary>

> **Note**
> ✅: Achieved 🔃: Reformatting ⛔: TODO
Expand Down Expand Up @@ -96,16 +99,21 @@ The available functions and plans can be found as follows.
| | | [`AMP(RofuncRL)`](https://rofunc.readthedocs.io/en/latest/lfd/RofuncRL/AMP.html) | ✅ | | | | | | |
| | | [`ASE(RofuncRL)`](https://rofunc.readthedocs.io/en/latest/lfd/RofuncRL/ASE.html) | ✅ | | | | | | |
| | | `ODTrans(RofuncRL)` | ⛔ | | | | | | |
</details>

## RofuncRL

`RofuncRL` is one of the most important sub-packages of `Rofunc`. It is a modular easy-to-use Reinforcement Learning sub-package designed for Robot Learning tasks. It has been tested with simulators like `OpenAIGym`, `IsaacGym`, `OmniIsaacGym` (see [example gallery](https://rofunc.readthedocs.io/en/latest/examples/learning_rl/index.html)), and also differentiable simulators like `PlasticineLab` and `DiffCloth`. Here is a list of robot tasks trained by `RofuncRL`:


> **Note**\
> You can customize your own project based on RofuncRL by following the [**RofuncRL customize tutorial**](https://rofunc.readthedocs.io/en/latest/tutorial/customizeRL.html).\
> We also provide a [**RofuncRL-based repository template**](https://github.com/Skylark0924/RofuncRL-template) to generate your own repository following the RofuncRL structure by one click.\
> For more details, please check [**the documentation for RofuncRL**](https://rofunc.readthedocs.io/en/latest/examples/learning_rl/index.html).
<details>
<summary>The list of all supported tasks.</summary>

| Tasks | Animation | Performance | [ModelZoo](https://github.com/Skylark0924/Rofunc/blob/main/rofunc/config/learning/model_zoo.json) |
|-------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------|---------------------------------------------------------------------------------------------------|
| Ant | ![](doc/img/task_gifs/AntRofuncRLPPO.gif) | | ✅ |
Expand Down Expand Up @@ -149,7 +157,7 @@ The available functions and plans can be found as follows.
| BiShadowHand<br/>Switch | ![](doc/img/task_gifs/BiShadowHandSwitchRofuncRLPPO.gif) | | ✅ |
| BiShadowHand<br/>TwoCatchUnderarm | ![](doc/img/task_gifs/BiShadowHandTwoCatchUnderarmRofuncRLPPO.gif) | | ✅ |


</details>

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