This folder contains supplementary materials for CoRL 2024 submission: TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction. The submission number is 52.

File Structure:


appendix.pdf: The appendix of the main paper. It is also included in the main paper submission.

videos:
    0-key_videos: Includes videos that are important to the submission. We suggest to view them first.
        0-method_overview.mp4: Illustrates the proposed method.
        1-point_cloud_observation.mp4: Visualizes point-cloud observations in both sim and real.
        2-task_gallery.mp4: Shows tasks rollouts in both sim and real.
        3-square_table_assembly.mp4: Shows the full assembly of a square table from FurnitureBench.
        4-lamp_assembly.mp4: Shows the full assembly of a functional table lamp.
    1-tasks: Includes more real-robot rollouts.
        0-stabilize.mp4: Real-robot policy rollout of the task Stabilize.
        1-insert.mp4: Real-robot policy rollout of the task Insert.
        2-screw_table_leg.mp4: Real-robot policy rollout of the task Screw.
        3-screw_bulb.mp4: Real-robot policy rollout of the task Screw a Light Bulb.
        4-grasp_bulb.mp4: Real-robot policy rollout of the task Grasp a Light Bulb.
    2-failure_cases: Includes more failure cases.
        0-unstable_grasp_pose.mp4: The robot grasps at a unstable grasping pose.
        1-insert_failure.mp4: Inaccurate insertion and the table leg falls down.
        2-bended_gripper.mp4: The robot closes the gripper too early such that the gripper fingers are bended.
        3-over_screw.mp4: The robot over-screws.

code: Contains our source code for both simulation environments and training code.
    transic: Policy training code.
    transic-envs: Simulation environment code.
 