OstrichRL: A Musculoskeletal Ostrich Simulation to Study Bio-mechanical Locomotion.

Related tags

Deep Learningostrichrl
Overview

OstrichRL



This is the repository accompanying the paper OstrichRL: A Musculoskeletal Ostrich Simulation to Study Bio-mechanical Locomotion.

It contains models of a musculoskeletal ostrich and of the Cassie robot, motion capture data, and tasks for the dm_control suite:

  • ostrich-run
  • ostrich-mocap_tracking
  • ostrich-foraging
  • ostrich-run_torque
  • cassie-run
  • cassie-mocap_tracking

Instructions

To install

Download and install OstrichRL:

git clone https://github.com/vittorione94/ostrichrl
pip install -e ostrichrl/

To launch experiments

We recommend using the Tonic RL library.

Download and install Tonic:

git clone https://github.com/fabiopardo/tonic
pip install -e tonic/

To play with the environments and random actions

python -m tonic.play --header "import ostrichrl" \
--env "tonic.environments.ControlSuite('ostrich-run')" \
--agent "tonic.agents.UniformRandom()"
python -m tonic.play --header "import ostrichrl" \
--env "tonic.environments.ControlSuite('ostrich-mocap_tracking', task_kwargs=dict(clip='cyclic', test=True, play=True))" \
--agent "tonic.agents.UniformRandom()"
python -m tonic.play --header "import ostrichrl" \
--env "tonic.environments.ControlSuite('ostrich-foraging')" \
--agent "tonic.agents.UniformRandom()"
python -m tonic.play --header "import ostrichrl" \
--env "tonic.environments.ControlSuite('ostrich-run_torque')" \
--agent "tonic.agents.UniformRandom()"
python -m tonic.play --header "import ostrichrl" \
--env "tonic.environments.ControlSuite('cassie-run')" \
--agent "tonic.agents.UniformRandom()"
python -m tonic.play --header "import ostrichrl" \
--env "tonic.environments.ControlSuite('cassie-mocap_tracking', task_kwargs=dict(clip='0100', test=True, play=True))" \
--agent "tonic.agents.UniformRandom()"

To train

python -m tonic.train --header "import ostrichrl, tonic.tensorflow" \
--env "tonic.environments.ControlSuite('ostrich-mocap_tracking', task_kwargs=dict(clip='0047'))" \
--test_env "tonic.environments.ControlSuite('ostrich-mocap_tracking', task_kwargs=dict(clip='0047', test=True))" \
--agent "tonic.tensorflow.agents.TD4()" \
--parallel 8 \
--sequential 5
Owner
Vittorio La Barbera
Current intern @Rokoko. PhD student at RVC blending reinforcement learning and biomechanics. Previously MSc in Computer Graphics, Vision and Imaging @ UCL
Vittorio La Barbera
GitHub Repository
Effect of Deep Transfer and Multi task Learning on Sperm Abnormality Detection

Effect of Deep Transfer and Multi task Learning on Sperm Abnormality Detection Introduction This repository includes codes and models of "Effect of De

Amir Abbasi 5 Sep 05, 2022
Graph Attention Networks

GAT Graph Attention Networks (Veličković et al., ICLR 2018): https://arxiv.org/abs/1710.10903 GAT layer t-SNE + Attention coefficients on Cora Overvie

Petar Veličković 2.6k Jan 05, 2023
MoCoPnet - Deformable 3D Convolution for Video Super-Resolution

MoCoPnet: Exploring Local Motion and Contrast Priors for Infrared Small Target Super-Resolution Pytorch implementation of local motion and contrast pr

Xinyi Ying 28 Dec 15, 2022
(CVPR 2022 - oral) Multi-View Depth Estimation by Fusing Single-View Depth Probability with Multi-View Geometry

Multi-View Depth Estimation by Fusing Single-View Depth Probability with Multi-View Geometry Official implementation of the paper Multi-View Depth Est

Bae, Gwangbin 138 Dec 28, 2022
codes for "Scheduled Sampling Based on Decoding Steps for Neural Machine Translation" (long paper of EMNLP-2022)

Scheduled Sampling Based on Decoding Steps for Neural Machine Translation (EMNLP-2021 main conference) Contents Overview Background Quick to Use Furth

Adaxry 13 Jul 25, 2022
Full Transformer Framework for Robust Point Cloud Registration with Deep Information Interaction

Full Transformer Framework for Robust Point Cloud Registration with Deep Information Interaction. arxiv This repository contains python scripts for tr

12 Dec 12, 2022
Denoising Normalizing Flow

Denoising Normalizing Flow Christian Horvat and Jean-Pascal Pfister 2021 We combine Normalizing Flows (NFs) and Denoising Auto Encoder (DAE) by introd

CHrvt 17 Oct 15, 2022
Package for working with hypernetworks in PyTorch.

Package for working with hypernetworks in PyTorch.

Christian Henning 71 Jan 05, 2023
Softlearning is a reinforcement learning framework for training maximum entropy policies in continuous domains. Includes the official implementation of the Soft Actor-Critic algorithm.

Softlearning Softlearning is a deep reinforcement learning toolbox for training maximum entropy policies in continuous domains. The implementation is

Robotic AI & Learning Lab Berkeley 997 Dec 30, 2022
Lung Pattern Classification for Interstitial Lung Diseases Using a Deep Convolutional Neural Network

ild-cnn This is supplementary material for the manuscript: "Lung Pattern Classification for Interstitial Lung Diseases Using a Deep Convolutional Neur

22 Nov 05, 2022
This is an official implementation for "AS-MLP: An Axial Shifted MLP Architecture for Vision".

AS-MLP architecture for Image Classification Model Zoo Image Classification on ImageNet-1K Network Resolution Top-1 (%) Params FLOPs Throughput (image

SVIP Lab 106 Dec 12, 2022
MacroTools provides a library of tools for working with Julia code and expressions.

MacroTools.jl MacroTools provides a library of tools for working with Julia code and expressions. This includes a powerful template-matching system an

FluxML 278 Dec 11, 2022
Official PaddlePaddle implementation of Paint Transformer

Paint Transformer: Feed Forward Neural Painting with Stroke Prediction [Paper] [Paddle Implementation] Update We have optimized the serial inference p

TianweiLin 284 Dec 31, 2022
A Python toolbox to create adversarial examples that fool neural networks in PyTorch, TensorFlow, and JAX

Foolbox Native: Fast adversarial attacks to benchmark the robustness of machine learning models in PyTorch, TensorFlow, and JAX Foolbox is a Python li

Bethge Lab 2.4k Dec 25, 2022
Api for getting bin info and getting encrypted card details for adyen.

Bin Info And Adyen Cse Enc Python api for getting bin info and getting encrypted

Roldex Stark 8 Dec 30, 2022
Commonality in Natural Images Rescues GANs: Pretraining GANs with Generic and Privacy-free Synthetic Data - Official PyTorch Implementation (CVPR 2022)

Commonality in Natural Images Rescues GANs: Pretraining GANs with Generic and Privacy-free Synthetic Data (CVPR 2022) Potentials of primitive shapes f

31 Sep 27, 2022
Detecting Human-Object Interactions with Object-Guided Cross-Modal Calibrated Semantics

[AAAI2022] Detecting Human-Object Interactions with Object-Guided Cross-Modal Calibrated Semantics Overall pipeline of OCN. Paper Link: [arXiv] [AAAI

13 Nov 21, 2022
PyTorch implementation for paper Neural Marching Cubes.

NMC PyTorch implementation for paper Neural Marching Cubes, Zhiqin Chen, Hao Zhang. Paper | Supplementary Material (to be updated) Citation If you fin

Zhiqin Chen 109 Dec 27, 2022
Code that accompanies the paper Semi-supervised Deep Kernel Learning: Regression with Unlabeled Data by Minimizing Predictive Variance

Semi-supervised Deep Kernel Learning This is the code that accompanies the paper Semi-supervised Deep Kernel Learning: Regression with Unlabeled Data

58 Oct 26, 2022
ReSSL: Relational Self-Supervised Learning with Weak Augmentation

ReSSL: Relational Self-Supervised Learning with Weak Augmentation This repository contains PyTorch evaluation code, training code and pretrained model

mingkai 45 Oct 25, 2022