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
Cross View SLAM

Cross View SLAM This is the associated code and dataset repository for our paper I. D. Miller et al., "Any Way You Look at It: Semantic Crossview Loca

Ian D. Miller 99 Dec 09, 2022
Code and data for ACL2021 paper Cross-Lingual Abstractive Summarization with Limited Parallel Resources.

Multi-Task Framework for Cross-Lingual Abstractive Summarization (MCLAS) The code for ACL2021 paper Cross-Lingual Abstractive Summarization with Limit

Yu Bai 43 Nov 07, 2022
This code is 3d-CNN model that can predict environmental value

Predict-environmental-value-3dCNN This code is 3d-CNN model that can predict environmental value. Firstly, I built a model that can create a lot of bu

1 Jan 06, 2022
Official codes: Self-Supervised Learning by Estimating Twin Class Distribution

TWIST: Self-Supervised Learning by Estimating Twin Class Distributions Codes and pretrained models for TWIST: @article{wang2021self, title={Self-Sup

Bytedance Inc. 85 Dec 15, 2022
Soomvaar is the repo which 🏩 contains different collection of 👨‍💻🚀code in Python and 💫✨Machine 👬🏼 learning algorithms📗📕 that is made during 📃 my practice and learning of ML and Python✨💥

Soomvaar 📌 Introduction Soomvaar is the collection of various codes implement in machine learning and machine learning algorithms with python on coll

Felix-Ayush 42 Dec 30, 2022
Code accompanying our NeurIPS 2021 traffic4cast challenge

Traffic forecasting on traffic movie snippets This repo contains all code to reproduce our approach to the IARAI Traffic4cast 2021 challenge. In the c

Nina Wiedemann 2 Aug 09, 2022
CVPR 2021: "Generating Diverse Structure for Image Inpainting With Hierarchical VQ-VAE"

Diverse Structure Inpainting ArXiv | Papar | Supplementary Material | BibTex This repository is for the CVPR 2021 paper, "Generating Diverse Structure

152 Nov 04, 2022
Code for our paper "Interactive Analysis of CNN Robustness"

Perturber Code for our paper "Interactive Analysis of CNN Robustness" Datasets Feature visualizations: Google Drive Fine-tuning checkpoints as saved m

Stefan Sietzen 0 Aug 17, 2021
Implementation of FSGNN

FSGNN Implementation of FSGNN. For more details, please refer to our paper Experiments were conducted with following setup: Pytorch: 1.6.0 Python: 3.8

19 Dec 05, 2022
Mortgage-loan-prediction - Show how to perform advanced Analytics and Machine Learning in Python using a full complement of PyData utilities

Mortgage-loan-prediction - Show how to perform advanced Analytics and Machine Learning in Python using a full complement of PyData utilities

Deepak Nandwani 1 Dec 31, 2021
Robot Hacking Manual (RHM). From robotics to cybersecurity. Papers, notes and writeups from a journey into robot cybersecurity.

RHM: Robot Hacking Manual Download in PDF RHM v0.4 ┃ Read online The Robot Hacking Manual (RHM) is an introductory series about cybersecurity for robo

Víctor Mayoral Vilches 233 Dec 30, 2022
Mixed Neural Likelihood Estimation for models of decision-making

Mixed neural likelihood estimation for models of decision-making Mixed neural likelihood estimation (MNLE) enables Bayesian parameter inference for mo

mackelab 9 Dec 22, 2022
InferPy: Deep Probabilistic Modeling with Tensorflow Made Easy

InferPy: Deep Probabilistic Modeling Made Easy InferPy is a high-level API for probabilistic modeling written in Python and capable of running on top

PGM-Lab 141 Oct 13, 2022
Recurrent Scale Approximation (RSA) for Object Detection

Recurrent Scale Approximation (RSA) for Object Detection Codebase for Recurrent Scale Approximation for Object Detection in CNN published at ICCV 2017

Yu Liu (Louis) 239 Dec 28, 2022
DivNoising is an unsupervised denoising method to generate diverse denoised samples for any noisy input image. This repository contains the code to reproduce the results reported in the paper https://openreview.net/pdf?id=agHLCOBM5jP

DivNoising: Diversity Denoising with Fully Convolutional Variational Autoencoders Mangal Prakash1, Alexander Krull1,2, Florian Jug2 1Authors contribut

JugLab 33 Dec 30, 2022
A toolkit for developing and comparing reinforcement learning algorithms.

Status: Maintenance (expect bug fixes and minor updates) OpenAI Gym OpenAI Gym is a toolkit for developing and comparing reinforcement learning algori

OpenAI 29.6k Jan 08, 2023
Prososdy Morph: A python library for manipulating pitch and duration in an algorithmic way, for resynthesizing speech.

ProMo (Prosody Morph) Questions? Comments? Feedback? Chat with us on gitter! A library for manipulating pitch and duration in an algorithmic way, for

Tim 71 Jan 02, 2023
VITS: Conditional Variational Autoencoder with Adversarial Learning for End-to-End Text-to-Speech

VITS: Conditional Variational Autoencoder with Adversarial Learning for End-to-End Text-to-Speech Jaehyeon Kim, Jungil Kong, and Juhee Son In our rece

Jaehyeon Kim 1.7k Jan 08, 2023
PoseCamera is python based SDK for human pose estimation through RGB webcam.

PoseCamera PoseCamera is python based SDK for human pose estimation through RGB webcam. Install install posecamera package through pip pip install pos

WonderTree 7 Jul 20, 2021
The implementation our EMNLP 2021 paper "Enhanced Language Representation with Label Knowledge for Span Extraction".

LEAR The implementation our EMNLP 2021 paper "Enhanced Language Representation with Label Knowledge for Span Extraction". See below for an overview of

杨攀 93 Jan 07, 2023