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NeurIPS 2018: AI for Prosthetics Challenge – 3rd place solution

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Attention

git clone --recursive git@github.com:scitator/neurips-18-prosthetics-challenge.git

How2run

  1. System requirements – redis and Anaconda

    sudo apt install redis-server

  2. Python requirements

    conda create -n opensim-rl -c kidzik opensim python=3.6.1
activate opensim-rl
source activate opensim-rl
conda install -c conda-forge lapack git
conda install pytorch torchvision -c pytorch
pip install git+https://github.com/stanfordnmbl/osim-rl.git
pip install git+https://github.com/pytorch/tnt.git@master
pip install pyaml tensorboardX jpeg4py albumentations

  3. Mujoco example

    For installation issues follow official guide.

    redis-server --port 12000
export GPUS=""
CUDA_VISIBLE_DEVICES="$GPUS" PYTHONPATH=. \
    python rl/offpolicy/scripts/run_trainer.py \
    --config=experiments/mujoco/ecritic_quantile.yml

CUDA_VISIBLE_DEVICES="" PYTHONPATH=. \
    python rl/offpolicy/scripts/run_samplers.py \
    --config=experiments/mujoco/ecritic_quantile.yml

CUDA_VISIBLE_DEVICE="" tensorboard \
   --logdir=./experiments/logs

  4. L2R example – ensemble training

    1. Redis

      redis-server --port 13131

    2. FC

      export GPUS=""
CUDA_VISIBLE_DEVICES="$GPUS" PYTHONPATH=. \
    python catalyst/rl/offpolicy/scripts/run_trainer.py \
    --config=experiments/prosthetics/ecritic_quantile_fc.yml

CUDA_VISIBLE_DEVICES="" PYTHONPATH=. \
    python catalyst/rl/offpolicy/scripts/run_samplers.py \
    --config=experiments/prosthetics/ecritic_quantile_fc.yml

    3. LAMA

      export GPUS=""
CUDA_VISIBLE_DEVICES="$GPUS" PYTHONPATH=. \
    python catalyst/rl/offpolicy/scripts/run_trainer.py \
    --config=experiments/prosthetics/ecritic_quantile_lama.yml

CUDA_VISIBLE_DEVICES="" PYTHONPATH=. \
    python catalyst/rl/offpolicy/scripts/run_samplers.py \
    --config=experiments/prosthetics/ecritic_quantile_lama.yml

    4. Monitoring

      
CUDA_VISIBLE_DEVICE="" tensorboard \
   --logdir=./experiments/logs

  5. L2R submit test

    bash ./submit/run.sh

Additional links

Medium post

Video

Citation

Please cite the following paper if you feel this repository useful.

@article{catalyst_rl,
  title={Catalyst.RL: A Distributed Framework for Reproducible RL Research},
  author = {Kolesnikov, Sergey and Hrinchuk, Oleksii},
  journal={arXiv preprint arXiv:1903.00027},
  year={2019}
}