3d-diffuser-actor-rlbench
Community3D Vision-Language-Action policy for robotic manipulation tasks.
Authorbensonlee5
Version1.0.0
Installs0
System Documentation
What problem does it solve?
This Skill provides a 3D Vision-Language-Action policy to automate robotic manipulation tasks on the RLBench benchmark, enabling precise control and execution of actions like opening drawers, picking up objects, and more.
Core Features & Use Cases
- Vision-Language-Action Integration: Combines multi-view RGB-D imagery with language instructions for end-effector keypose prediction.
- 3D Manipulation Tasks: Designed for tasks like opening drawers, manipulating food on a grill, and closing jars in a RLBench simulation environment.
- Robot Embodyment: Optimized for the Franka Panda robot with CoppeliaSim/PyRep backend.
- Use Case: A user can input a language instruction such as "open drawer" and the Skill will predict the next end-effector keypose, guiding the robot's motion planner to perform the action.
Quick Start
Execute the Skill using the command: openral benchmark scene --config scenes/benchmark/rlbench_open_drawer.yaml --rskill rskills/3d-diffuser-actor-rlbench
Dependency Matrix
Required Modules
openralzmqmsgpack
Components
scriptsreferences
💻 Claude Code Installation
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Please help me install this Skill: Name: 3d-diffuser-actor-rlbench Download link: https://github.com/bensonlee5/openral/archive/main.zip#3d-diffuser-actor-rlbench Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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