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Learning Memory-Based Control for Human-Scale Bipedal Locomotion

Purpose

This repo is intended to serve as a foundation with which you can reproduce the results of the experiments detailed in our RSS 2020 paper, Learning Memory-Based Control for Human-Scale Bipedal Locomotion.

First-time setup

This repo requires MuJoCo 2.0. We recommend that you use Ubuntu 18.04.

You will probably need to install the following packages:

pip3 install --user torch numpy ray tensorboard
sudo apt-get install -y curl git libgl1-mesa-dev libgl1-mesa-glx libglew-dev libosmesa6-dev net-tools unzip vim wget xpra xserver-xorg-dev patchelf

If you don't already have it, you will need to install MuJoCo. You will also need to obtain a license key mjkey.txt from the official website. You can get a free 30-day trial if necessary.

wget https://www.roboti.us/download/mujoco200_linux.zip
unzip mujoco200_linux.zip
mkdir ~/.mujoco
mv mujoco200_linux ~/.mujoco/mujoco200
cp [YOUR KEY FILE] ~/.mujoco/mjkey.txt

You will need to create an environment variable LD_LIBRARY_PATH to allow mujoco-py to find your mujoco directory. You can add it to your ~/.bashrc or just enter it into the terminal every time you wish to use mujoco.

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/.mujoco/mujoco200/bin

Reproducing experiments

Basics

To train a policy in accordance with the hyperparameters used in the paper, execute this command:

python3 main.py ppo --batch_size 64 --sample 50000 --epochs 8 --traj_len 300 --timesteps 60000000 --discount 0.95 --workers 56 --recurrent --randomize --layers 128,128 --std 0.13 --logdir LOG_DIRECTORY

To train a FF policy, simply remove the --recurrent argument. To train without dynamics randomization, remove the --randomize argument.

Logging details / Monitoring live training progress

Tensorboard logging is enabled by default. After initiating an experiment, your directory structure would look like this:

logs/
├── [algo]
│     └── [New Experiment Logdir]

To see live training progress, run $ tensorboard --logdir=logs then navigate to http://localhost:6006/ in your browser