DIME-Demonstrations

This repository contains the a package which is a part of the official implementation of DIME for collecting demonstrations for 3 different tasks - rotation, spinning and flipping.

Setup

This package has the same dependencies as that of the DIME-Models. No additional installation is needed.

Usage

• Run extractor.py along with the appropriate parsers to collect a demonstration.
• Run reengineer.py along with the appropriate parsers to extract state-action data with specific distance differences.

Citation

If you use this repo in your research, please consider citing the paper as follows:

@article{arunachalam2022dime,
  title={Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulation},
  author={Sridhar Pandian Arunachalam and Sneha Silwal and Ben Evans and Lerrel Pinto},
  journal={arXiv preprint arXiv:2203.13251},
  year={2022}
}