Package: robopianist
RoboPianist: Dexterous Piano Playing with Deep Reinforcement LearningRoboPianist is a new benchmarking suite for high-dimensional control, targeted at testing high spatial and temporal precision, coordination, and planning, all with an underactuated system frequently making-and-breaking contacts. The proposed challenge ismastering the pianothrough bi-manual dexterity, using a pair of simulated anthropomorphic robot hands.This codebase contains software and tasks for the benchmark, and is powered byMuJoCo.Latest UpdatesGetting StartedInstallationInstall from sourceInstall from PyPIOptional: Download additional soundfontsMIDI DatasetCLIContributingFAQCiting RoboPianistAcknowledgementsLicense and DisclaimerLatest Updates[24/12/2023] Updated install script so that it checks out the correct Menagerie commit. Please re-runbash scripts/install_deps.shto update your installation.[17/08/2023] Added apixel wrapperfor augmenting the observation space with RGB images.[11/08/2023] Code to train the model-free RL policies is now public, seerobopianist-rl.Getting StartedWe've created an introductoryColabnotebook that demonstrates how to use RoboPianist. It includes code for loading and customizing a piano playing task, and a demonstration of a pretrained policy playing a short snippet ofTwinkle Twinkle Little Star. Click the button below to get started!InstallationRoboPianist is supported on both Linux and macOS and can be installed with Python >= 3.8. We recommend usingMinicondato manage your Python environment.Install from sourceThe recommended way to install this package is from source. Start by cloning the repository:gitclonehttps://github.com/google-research/robopianist.git&&cdrobopianistNext, install the prerequisite dependencies:gitsubmoduleinit&&gitsubmoduleupdate
bashscripts/install_deps.shFinally, create a new conda environment and install RoboPianist in editable mode:condacreate-npianistpython=3.10
condaactivatepianist

pipinstall-e".[dev]"To test your installation, runmake testand verify that all tests pass.Install from PyPIFirst, install the prerequisite dependencies:bash<(curl-shttps://raw.githubusercontent.com/google-research/robopianist/main/scripts/install_deps.sh)--no-soundfontsNext, create a new conda environment and install RoboPianist:condacreate-npianistpython=3.10
condaactivatepianist

pipinstall--upgraderobopianistOptional: Download additional soundfontsWe recommend installing additional soundfonts to improve the quality of the synthesized audio. You can easily do this using the RoboPianist CLI:robopianistsoundfont--downloadFor more soundfont-related commands, seedocs/soundfonts.md.MIDI DatasetThe PIG dataset cannot be redistributed on GitHub due to licensing restrictions. Seedocs/datasetfor instructions on where to download it and how to preprocess it.CLIRoboPianist comes with a command line interface (CLI) that can be used to download additional soundfonts, play MIDI files, preprocess the PIG dataset, and more. For more information, seedocs/cli.md.ContributingWe welcome contributions to RoboPianist. Please seedocs/contributing.mdfor more information.FAQSeedocs/faq.mdfor a list of frequently asked questions.Citing RoboPianistIf you use RoboPianist in your work, please use the following citation:@inproceedings{robopianist2023,author={Zakka, Kevin and Wu, Philipp and Smith, Laura and Gileadi, Nimrod and Howell, Taylor and Peng, Xue Bin and Singh, Sumeet and Tassa, Yuval and Florence, Pete and Zeng, Andy and Abbeel, Pieter},title={RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learning},booktitle={Conference on Robot Learning (CoRL)},year={2023},}AcknowledgementsWe would like to thank the following people for making this project possible:Philipp WuandMohit Shridharfor being a constant source of inspiration and support.Ilya Kostrikovfor constantly raising the bar for RL engineering and for invaluable debugging help.TheMagentateam for helpful pointers and feedback.TheMuJoCoteam for the development of the MuJoCo physics engine and their support throughout the project.License and DisclaimerMuJoco Menagerie's license can be foundhere. Soundfont licensing information can be foundhere. MIDI licensing information can be foundhere. All other code is licensed under anApache-2.0 License.This is not an officially supported Google product.