# RM-PRT

**Repository Path**: bobosui/RM-PRT

## Basic Information

- **Project Name**: RM-PRT
- **Description**: No description available
- **Primary Language**: Python
- **License**: Apache-2.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-07-16
- **Last Updated**: 2024-07-16

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Surfer: Progressive Reasoning with World Models for Robotic Manipulation
[[arXiv]](https://arxiv.org/abs/2306.11335) [[Website]](https://necolizer.github.io/RM-PRT/).


![](imgs/model.png)
## SeaWave
**SeaWave** is a Robotic Manipulation with Progressive Reasoning Tasks benchmark based on a realistic robotic manipulation simulator. Specifically, the SeaWave benchmark builds a new high-fidelity digital twin scene based on Unreal Engine 5, which includes 40K natural language instructions generated by ChatGPT for a detailed evaluation of robot manipulation.

![Simulator](./imgs/multi_level_tasks.jpg)

### Pipeline
![pipeline](./imgs/pipeline.png)


### Environment
#### Resource Consumption
In our experiments, we used 1 NVIDIA GeForce RTX 3090 GPU. And the simulator occupies approximately 2 to 3GB of GPU memory.
#### Simulator
See [simulator details](https://github.com/Necolizer/RM-PRT/blob/main/EnvIntroduction/README.md).

## Training
```
python src/main.py
```

## Test
```
python src/eval.py
```
## Citation
```
@misc{ren2024surferprogressivereasoningworld,
      title={Surfer: Progressive Reasoning with World Models for Robotic Manipulation}, 
      author={Pengzhen Ren and Kaidong Zhang and Hetao Zheng and Zixuan Li and Yuhang Wen and Fengda Zhu and Mas Ma and Xiaodan Liang},
      year={2024},
      eprint={2306.11335},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2306.11335}, 
}
```

## License

This repository is released under the Apache 2.0 license as found in the [LICENSE](LICENSE.md) file.