### Setting up RoboEXP Environment (Shell)

Source: https://github.com/jianghanxiao/roboexp/blob/master/README.md

Commands to set the CUDA home directory, create and activate a Conda environment with Python 3.8, and run scripts to install dependencies and download pretrained models required for the RoboEXP system.

```Shell
# Here we use cuda-11.7
export CUDA_HOME=/usr/local/cuda-11.7/
# create conda environment
conda create -n roboexp python=3.8
conda activate roboexp

# Install the packages
bash scripts/install_env.sh

# download pretrained models
bash scripts/download_pretrained_models.sh
```

--------------------------------

### Downloading Calibration Files (Shell)

Source: https://github.com/jianghanxiao/roboexp/blob/master/README.md

Commands using `gdown` to download the calibration board file and an example calibration result file, which are necessary for performing wrist camera calibration for the RoboEXP system.

```Shell
# Download the calibration board
gdown 1KWYncDGjtGthePC3wzCu9zBW0nZI0RBM
# Download the example calibration result
gdown 1b2yp45eJVyXnOg11OImTER3zMRUcaZRN
```

--------------------------------

### Running RoboEXP Interactive Exploration (Python)

Source: https://github.com/jianghanxiao/roboexp/blob/master/README.md

Command to execute the main interactive exploration script (`interactive_explore.py`) for the RoboEXP system. The script can be configured to enable visualizations by setting a flag.

```Shell
# Set `visualize=True` to enable visualizations
python interactive_explore.py
```

--------------------------------

### Citing RoboEXP Paper (BibTeX)

Source: https://github.com/jianghanxiao/roboexp/blob/master/README.md

BibTeX entry for citing the RoboEXP paper presented at CoRL 2024. This provides the necessary information for academic citations.

```BibTeX
@article{jiang2024roboexp,
    title={RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation},
    author={Jiang, Hanxiao and Huang, Binghao and Wu, Ruihai and Li, Zhuoran and Garg, Shubham and Nayyeri, Hooshang and Wang, Shenlong and Li, Yunzhu},
    journal={CoRL},
    year={2024}
}
```

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