ljcc0930 / complex-locomotion-skill-learning

Complex Locomotion Skill Learning via Differentiable Physics

Complex Locomotion Skill Learning via Differentiable Physics

[OpenReview] [arXiv]

RL

Train

python3 main_rl.py --config_file cfg/sim_config_RL_robot2_vh.json --env-name "RL_Multitask" --algo ppo --use-gae --use-linear-lr-decay --train

Evaluate

python3 main_rl.py --env-name "RL_Multitask" --algo ppo --use-gae --use-linear-lr-decay --evaluate --evaluate_path "saved_results/sim_config_RL_robot2_vh/DiffTaichi_RL/"

DiffPhy

Train

python3 main_diff_phy.py --config_file cfg/sim_config_DiffPhy_robot2_vh.json --train

Evaluate

python3 main_diff_phy.py --config_file cfg/sim_config_DiffPhy_robot2_vh.json --evaluate --no-tensorboard-train --evaluate_path saved_results/sim_config_DiffPhy_robot2_vh/DiffTaichi_DiffPhy

Interactive

python3 interactive.py --config_file cfg/sim_config_DiffPhy_robot2_vh.json --memory 1.0

Output plots

DiffPhy Only

Multi-Plots

python3 scripts/export_tensorboard_data.py --our_file_path saved_results/sim_config_DiffPhy_robot4_vh/DiffTaichi_DiffPhy/ --no-rl --error-bar --task tvh

Single-Plot

python3 scripts/export_tensorboard_data.py --our_file_path saved_results/sim_config_DiffPhy_robot4_vh/DiffTaichi_DiffPhy/ --no-rl --error-bar --task tvh --draw-single

DiffPhy and RL

Multi-Plots

python3 scripts/export_tensorboard_data.py --our_file_path saved_results/sim_config_DiffPhy_robot4_vh/DiffTaichi_DiffPhy/ --rl_file_path saved_results/sim_config_RL_robot4_vh/DiffTaichi_RL/ --task tvh

Single-Plot

python3 scripts/export_tensorboard_data.py --our_file_path saved_results/sim_config_DiffPhy_robot4_vh/DiffTaichi_DiffPhy/ --rl_file_path saved_results/sim_config_RL_robot4_vh/DiffTaichi_RL/ --task tvh --draw-single --error-bar

3D

python3 main_diff_phy.py --config_file cfg3d/sim_config_DiffPhy_robot2_vh.json --train python3 main_diff_phy.py --config_file cfg3d/sim_config_DiffPhy_robot2_vh.json --evaluate --no-tensorboard-train --evaluate_path saved_results/sim_config_DiffPhy_robot2_vh/DiffTaichi_DiffPhy

Generate scripts

Adam grid search

python3 scripts/json_gen_multiple_robots.py --robots 2 --output-name run_scripts_adam_grid_search_b1_b2_0_9_0_999.sh --adam-grid-search --adam-b1 0.82 0.68 0.43 --adam-b2 0.9 0.999 --gpu-id 0

Cite this work

@article{liu2021complex,
  title={Complex Locomotion Skill Learning via Differentiable Physics},
  author={Liu, Jiancheng and Fang, Yu and Zhang, Mingrui and Zhang, Jiasheng and Ma, Yidong and Li, Minchen and Hu, Yuanming and Jiang, Chenfanfu and Liu, Tiantian},
  year={2021}
}