command.txt

# Korol training single task in four sim envs
# In default, the resnet uses rgbd image + frequency domain image
# if you want to use rgbd image only, then use "from utils.resnet18 import *"
# instead of using "from utils.resnet import *"
python Door_optimal_feature_training.py 
python Tool_optimal_feature_training.py 
python Relocate_optimal_feature_training.py 
python Reorientation_optimal_feature_training.py 

# Korol multi task training
python Multitask_optimal_feature_training.py

# KODex single task training, you can change the env at Koopman_gt_operator_training.py line 252 
# and at Koopman_gt_operator_eval.py line 33
# you need to train the koopman matrix K in Koopman_gt_operator_training.py first and
# then test with Koopman_gt_operator_eval.py in the same env
python Koopman_gt_operator_training.py
then 
python Koopman_gt_operator_eval.py

# Kodex multitask training
python Koopman_operator_multi_task_training.py
then 
python Koopman_manipulation_multi_task_eval.py