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
VM3000 Microphones

VM3000-Microphones This project was completed by Ricky Leman under the supervision of Dr Ben Travaglione and Professor Melinda Hodkiewicz as part of t

UWA System Health Lab 0 Jun 04, 2021
Towards Calibrated Model for Long-Tailed Visual Recognition from Prior Perspective

Towards Calibrated Model for Long-Tailed Visual Recognition from Prior Perspective Zhengzhuo Xu, Zenghao Chai, Chun Yuan This is the PyTorch implement

Sincere 16 Dec 15, 2022
This is the implementation of the paper "Self-supervised Outdoor Scene Relighting"

Self-supervised Outdoor Scene Relighting This is the implementation of the paper "Self-supervised Outdoor Scene Relighting". The model is implemented

Ye Yu 24 Dec 17, 2022
The dataset of tweets pulling from Twitters with keyword: Hydroxychloroquine, location: US, Time: 2020

HCQ_Tweet_Dataset: FREE to Download. Keywords: HCQ, hydroxychloroquine, tweet, twitter, COVID-19 This dataset is associated with the paper "Understand

2 Mar 16, 2022
Code for the paper Learning the Predictability of the Future

Learning the Predictability of the Future Code from the paper Learning the Predictability of the Future. Website of the project in hyperfuture.cs.colu

Computer Vision Lab at Columbia University 139 Nov 18, 2022
VIL-100: A New Dataset and A Baseline Model for Video Instance Lane Detection (ICCV 2021)

Preparation Please see dataset/README.md to get more details about our datasets-VIL100 Please see INSTALL.md to install environment and evaluation too

82 Dec 15, 2022
realsense d400 -> jpg + csv

Realsense-capture realsense d400 - jpg + csv Requirements RealSense sdk : Installation Python3 pyrealsense2 (RealSense SDK) Numpy OpenCV Tkinter Run

Ar-Ray 2 Mar 22, 2022
MediaPipeのPythonパッケージのサンプルです。2020/12/11時点でPython実装のある4機能(Hands、Pose、Face Mesh、Holistic)について用意しています。

mediapipe-python-sample MediaPipeのPythonパッケージのサンプルです。 2020/12/11時点でPython実装のある以下4機能について用意しています。 Hands Pose Face Mesh Holistic Requirement mediapipe 0.

KazuhitoTakahashi 217 Dec 12, 2022
Main Results on ImageNet with Pretrained Models

This repository contains Pytorch evaluation code, training code and pretrained models for the following projects: SPACH (A Battle of Network Structure

Microsoft 151 Dec 14, 2022
Code for pre-training CharacterBERT models (as well as BERT models).

Pre-training CharacterBERT (and BERT) This is a repository for pre-training BERT and CharacterBERT. DISCLAIMER: The code was largely adapted from an o

Hicham EL BOUKKOURI 31 Dec 05, 2022
Stacked Generative Adversarial Networks

Stacked Generative Adversarial Networks This repository contains code for the paper "Stacked Generative Adversarial Networks", CVPR 2017. Part of the

Xun Huang 241 May 07, 2022
A 2D Visual Localization Framework based on Essential Matrices [ICRA2020]

A 2D Visual Localization Framework based on Essential Matrices This repository provides implementation of our paper accepted at ICRA: To Learn or Not

Qunjie Zhou 27 Nov 07, 2022
Pytorch implementation of paper: "NeurMiPs: Neural Mixture of Planar Experts for View Synthesis"

NeurMips: Neural Mixture of Planar Experts for View Synthesis This is the official repo for PyTorch implementation of paper "NeurMips: Neural Mixture

James Lin 101 Dec 13, 2022
This repository contains the code for our fast polygonal building extraction from overhead images pipeline.

Polygonal Building Segmentation by Frame Field Learning We add a frame field output to an image segmentation neural network to improve segmentation qu

Nicolas Girard 186 Jan 04, 2023
Official implementation of the RAVE model: a Realtime Audio Variational autoEncoder

Official implementation of the RAVE model: a Realtime Audio Variational autoEncoder

Antoine Caillon 589 Jan 02, 2023
Code for EMNLP2020 long paper: BERT-Attack: Adversarial Attack Against BERT Using BERT

BERT-ATTACK Code for our EMNLP2020 long paper: BERT-ATTACK: Adversarial Attack Against BERT Using BERT Dependencies Python 3.7 PyTorch 1.4.0 transform

Linyang Li 142 Jan 04, 2023
ADSPM: Attribute-Driven Spontaneous Motion in Unpaired Image Translation

ADSPM: Attribute-Driven Spontaneous Motion in Unpaired Image Translation This repository provides a PyTorch implementation of ADSPM. Requirements Pyth

24 Jul 24, 2022
A framework for multi-step probabilistic time-series/demand forecasting models

JointDemandForecasting.py A framework for multi-step probabilistic time-series/demand forecasting models File stucture JointDemandForecasting contains

Stanford Intelligent Systems Laboratory 3 Sep 28, 2022
Complete U-net Implementation with keras

U Net Lowered with Keras Complete U-net Implementation with keras Original Paper Link : https://arxiv.org/abs/1505.04597 Special Implementations : The

Sagnik Roy 14 Oct 10, 2022
Neural Tangent Generalization Attacks (NTGA)

Neural Tangent Generalization Attacks (NTGA) ICML 2021 Video | Paper | Quickstart | Results | Unlearnable Datasets | Competitions | Citation Overview

Chia-Hung Yuan 34 Nov 25, 2022