????? ?? ???? ?? ??? ???? ?? ??? ?? ??? ?? ???? ???? ??? ???? ?????. ?? ???? ??? ?????? ????? ?????? ??? ??? ??? ? ????. ??? ?????? ?? ???? ??? ?? ?? ??? ??? ???? ??? ???.
?????? ???? ??? ?????? ?? ? RL(?? ??)? ???? ??? ??? ? ????? ???? ??? ? ????. ??? ? ?? ??? ??????? ????? ? ??? ?? ??? ???? ????? ?? ??? ?? ??? ??? ?? ????. ?? ??, ?????? ??? ??? ??? ?? ? ?????
?????? ??? ??? ????? ????? ?? ?? ???? ?? ?? ?????, NVIDIA Jetson? ?? ??? AI ???, ?? ?? ?? ??? ?? ??? ?????. Boston Dynamics, NVIDIA, The AI Institute? ???? ??? ?? ?? ??? ??? ??? ??? ?? ?? ????? ?? ???? ?? ??? ???? ??? ? ????. ???? ??? ?? ??? ???? Spot ???? ??? ?? ?? ?? API, ??? ???? ?? NVIDIA Jetson AGX Orin ????? ?? ????(AGX Orin ?? ??), NVIDIA Isaac Lab? Spot? ?? ????? ??? ?????.
Isaac Lab? ?? ??? ?? ??? ???? NVIDIA Isaac Sim ???? ??? ?? ???? ?????????. ??? ?? ?? ?? ?????? GPU ?? ???? ???? ?? ?? ??? ???? ?????? RL? ???? ??? ?????. Isaac Lab? ?? ???? ???? ? ??? ???? ??? ?? ?????? ?? ?? ??? ???? ????? ??? ??? ??? ?? ??? ???? ??? ? ????. ??? ??? NVIDIA Isaac Sim 4.0 ? NVIDIA Isaac Lab? ??? AI ? ??????? ???? ????? ??? ?????.
? ?????? Isaac Sim ? Isaac Lab?? Spot? ?? ?? RL ??? ???? RL ??? ??? ?? ??? ???? ????? ???? ??? ?????.
Isaac Lab? ???? ????
? ????? Isaac Lab?? ?? RL ??? ?????? ??? ?????.?
??
Spot ??? ??? ??? ?? ? ?? x, y, yaw ?? ??? ????? ???????.
??? ? ?? ??
?? ??? ???? ??? ?????? ?? 1? ??? ?? ???? ?? ?????. ?? ???? 12?? DOF ?? ??? ????, ? ??? ?? ?? ?? ????? ?? ?? ??? ?????.
??? ????
?? 1? ???? ?? ???? ? ? ??? ??? ?? ??? ?? ???? ???? ???????. ??? ????? ??? ?? ??? ?? ???? ???? ? ??? ???. ? ????? ??? ?????? ???.
???? ???? ? RL ???? ?? ??
?? ??? [512, 256, 128] ??? ???? 3?? ???? ?? MLP(Multilayer Perceptron)? ?????, GPU ??? ???? RSL-rl? PPO(?? ?? ???) ????? ???? ?????????.
?? ??
?? ??? ??????? ??? ?????.
- NVIDIA RTX GPU? ??? ???. ??? ?? ??? Isaac Sim ??? ?????.
- ?NVIDIA Isaac Sim, Isaac Lab? RSL-rl.
???
? ????? ??? ??????, ????, ??? ???? ??? ?? ???.
?? ????
| cd <path_to_isaac_lab> ./isaaclab.sh -p source/standalone/workflows/rsl_rl/train.py –task Isaac-Velocity-Flat-Spot-v0 –num_envs 4096 –headless –video –enable_cameras |
--video --enable_cameras ??? ???? ? ????? ??? ???? ?????. ??? ?? ?? ?????.
????? ?? ??
? ????? ????? ??? ???? .pt ??? log ????? ??? ??? .onnx? ?????.
| cd <path_to_isaac_lab> ./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py –task Isaac-Velocity-Flat-Spot-v0 –num_envs 64 |
??
??? 1? ????? ??? Spot ???? ??? ???? ??? ?? ???. ??? ?? x, y, yaw ??? ?? ??? ??? ?? ? ????. 4,096?? ??? 15,000?? ??? ?? NVIDIA RTX 4090 GPU?? ? 4??? ???? ??? ???? ????, 85,000~95,000FPS(?? ???)? ???? ??? ??????.
Jetson Orin? ???? Spot? ????? RL ?? ??
???? ??????? ?? ??????? ????? ??? ?? ??? ???? ?? ??? ??, ?? ?? ??, ?? ?? ??? ??? ? ?? ??? ?????. Isaac Lab? ??? ???? ? ??? ???? ??? ?? ??????? ????? ??? Jetson Orin ?? ?? ?? Spot ??? ???? ?? ??? ?? ?? ???? ??? ??? ??? ? ????.
?? 2? ?? Spot ?? ????? ?? ??? ?? ???. ?? ???? ?? ??? ???? ?????. ???????? ??? ???? Boston Dynamics State API? ???? ?????.
????? ??? Spot ???? ????? ??? ??? ???? ?? ?? ??? ?? ??? ??? ???? ???. NVIDIA Jetson AGX Orin ??? ??? ??? ?? ??? ?? AI ??? ?? ???? ??????? ?? ??? ?? ?? ? ?? ??? ?????. ?????? ??? ??? ?? ?? ???? ?? ????? ???? ? ????.
?? ??
???? ??? ?????.
- ??? ??, ?? ???, ?? ???? ???? Jetson Orin? ???? ??? ????? ??? Spot ??. ??? ?? ??? ????.
- Spot RL ??? ??? ?? ?? ? Spot Python SDK.
- Bluetooth? ?? Jetson Orin? ??? PS4 ???? ????.
- ?? PC?? Jetson? SSH? ???? ??? ?????.
- Isaac Lab? ????? ?? ? ?? ??.
Jetson Orin? ???? ? ???? ??
- Ubuntu 22.04? ??? ?? PC? SDK Manager? ?????.
- L4T BSP ???? SDK Manager? ???? ??? ??? ?? SDK Manager? ???? JetPack 6? Jetson Orin? ??????. ???? ?? ?????.
- Jetson Orin? ????? ??, ???, ???? ?????.
- 2???? ??? ??? ??? ????? ???? Jetson Orin? ??????.
- Jetson Orin? Spot ?? ??? ?? Jetson Orin? ??? ??? ?? ???? ?? ???? ??? ?????. IP ?? ?? ??? ?????.
- ?? -> ???? -> ?? -> + IPv4(??)? ?? ??: ?? – Jetson IP ??(192.168.50.5 ??), ? ??? – 255.255.255.0, ?? ????? -192.168.50.3?? ?????.
- ?? ??? ?????.
Jetson? ????? ??
?? ?????? ????? ??? .pt?? .onnx? ???? ?? ??? ?????. ?? ????? ?? PC?? ?????.
| cd <path_to_isaac_lab> ./isaac_lab.sh -p source/standalone/workflows/rsl_rl/play.py –task Isaac-Velocity-Flat-Spot-v0 |
??? ??? ?? ???? ?? ????? ??? ??? ?????. ???? env_cfg.json ? .onnx ??? ???? ????.
1. ???? PC?? ??? ???? env.yaml ?? ? .onnx ??? ??? ?????. ??: env.yaml? params ??? ??? .onnx ??? ???? ?? ????? ??? ??? ????.
2. ???? PC?? SSH? ???? 1??? ??? Jetson Orin? ?????. PC? Jetson? Spot ?? Wi-Fi? ?? ??? ????? ??? ?????. PC? ????? ?? ??? ?????.
| scp -P 20022 -r /path/to/folder/* orinusername@network_IP:<path_to_copy_files> |
3. ????, ? ????? Orin ????? ?? ??? ?????.
| mkdir spot-rl-deployment && cd spot-rl-deployment && mkdir models git clone https://github.com/boston-dynamics/spot-rl-example.git cd spot-rl-example && mkdir external && cd external && mkdir spot_python_sdk |
4. ?? ?? API? ??? Spot Python SDK? ?????? 3??? spot_python_sdk ??? ???? ??? ???.
5. ?? ?? ???? ?????.
| cd ~/spot-rl-deployment/spot-rl-example sudo apt update sudo apt install python3-pip cd external/spot_python_sdk/prebuilt pip3 install bosdyn_api-4.0.0-py3-none-any.whl pip3 install bosdyn_core-4.0.0-py3-none-any.whl pip3 install bosdyn_client-4.0.0-py3-none-any.whl pip3 install pygame pip3 install pyPS4Controller pip3 install spatialmath-python pip3 install onnxruntime |
6. env.yaml ??? env_cfg.json ??? ?????.
| cd ~/spot-rl-deployment/spot-rl-example/python/utils/ python env_convert.py #input the path to the .yaml file e.g ~/env.yaml #The file outputs a env_cfg.json file in the same directory as the .yaml file |
7. 6??? env_cfg.json? 2??? ????? ?? ?? .onnx ??? models ??? ?????.
| mv env_cfg.json policy.onnx ~/spot-rl-deployment/models |
?? ??
1. Spot? ??? ?? ?? ??? ?? ?? ??? ????. Jetson Orin? ??? ?? ??? ?????.
2. Spot ??? ?????? Spot ?? ???. ??? ???? ????? ?? ????? Spot? ?????. ??? ????? ????? ???? ???? ???. ?? ?? ??(?? ???)? ?? ?? ???? ???? ??? ??? ?????.
3. PC? Spot ?? Wi-Fi? ???? ????? Orin? SSH? ?????. Spot? ?? 20022? ????? ????? Spot IP? ? ??? ?? SSH ??? ?? Orin? ??? ? ????. IPv4 ?? 192.168.50.3? ?? IP???.
| ssh <jetson_username>@<spot_ip> -p 20022 e.g ssh <jetson_username>@192.168.50.3 -p 20022 |
4. bluetoothctl? ???? ?? ????? Orin? ?????.
| bluetoothctl scan on // wait for devices populate ~5s scan off devices |
??? ?????? ????? Mac ??? ????. ????? ??? ??? ???? Select ? PlayStation ??? ?? 5? ?? ?? ???? bluetoothctl ?? ????. ??? ??? ???? ?? ?? ??? ???? ?? ? ????? ???? ? ?? ????.
| trust {MAC} pair {MAC} connect {MAC} exit |
5. RL ??? ?????.
| cd ~/spot-rl-deployment/spot-rl-example/python python spot_rl_demo.py <spot_ip> ~/spot-rl-deployment/models –gamepad-config ./gamepad_config.json |
???? ???? Spot? ??? ??? ????? ?????. ??? Spot? ????? Enter ?? ?? ??? ??? ???? ????. ?? ????? ??? ??? ? ????. Enter ?? ?? ?? Spot? ???? ?? ?????.
6. PS4 ????? ?????.
???? ??? ?? ?? ????? x, y ???, ??? ????? ??? ?????. ?? ????(?: PS5 ????)? ????? ?? ? ??? ?????. axis_mapping? pygame? ?? ? ??? ?????.? ~/spot-rl-deployment/spot-rl-example/python/utils/test_controller.py ? test_controller.py ????? ???? ? ?? ?? ???? ?? ?? ????? ?? ??? ??? ??? ? ????.?
7. ???? ?? ??? ???? ??? ?????.
| python spot_rl_demo.py ~/spot-rl-deployment/models –gamepad-config /home/gamepad_config.json |
??? 2? ??????? ????? ? ?? Spot ??? ???? ??? ?? ???.
??? ?????? ?? ????
Spot RL ??? ???? ???? ?????? ??????? ??? RL ??? ??? ??, ????? ???? ?? ??????. ??? ??????? ???? ?? ?? ?? ??, ??, ?? ??, ???? ??, ??? ???? ?? ???? ?? ?????? ???? ??? ? ????.
Isaac Lab? ???? ?? ??? ?? ??? ?????? ??? ?? ??? ??? ???? ?????. ????? ??? ?? ??? ???? ?? ?? ????? ?? ????. ??? Spot ???? ??????? ?? ???? ??? ?? ?? ?? ??? ??? ? ????.
?? ?? ??? ?? ? Spot ??? ???? ??? ?????? ??? ?????.
Isaac Sim? ???? ??? Isaac Lab? ?? ??? ?????. ? ?? ??? ?? ??? ?? ??? ?????.
- Enhancing Efficiency of Quadrupedal Locomotion Over Challenging Terrains with Extensible Feet
- Enhancing Efficiency of Quadrupedal Locomotion Over Challenging Terrains with Extensible Feet
- Learning Torque Control for Quadrupedal Locomotion
- More Than an Arm: Using a Manipulator as a Tail for Enhanced Stability in Legged Locomotion
LinkedIn, Instagram, X, Facebook?? ?? ??? ?????. NVIDIA ???? YouTube ??? ???? NVIDIA ??? ???? ??? ?????. Isaac ROS ? Isaac Sim? ?? ?? ?? ???? ? ???? ?? ??? ?????.
?? ?? ??
Spot? Isaac Lab ?? ???? ??? ???? ????? ??? ??? ??? The AI Institute? Farbod Farshidian, Adam Miller, Fangzhou Yu, Michael Brauckmann?? ??????.
