SARD

This repo contains the official implementation of our paper:

Symmetry-Aware Robot Design with Structured Subgroups. (ICML 2023)

Installation

Environment

• Tested OS: Linux
• Python >= 3.7
• PyTorch == 1.8.0

Dependencies:

1. Install PyTorch 1.8.0 with the correct CUDA version.
2. Install the dependencies:

   pip install -r requirements.txt
   

3. Install torch-geometric with correct CUDA and PyTorch versions (change the CUDA and TORCH variables below):

   CUDA=cu102
   TORCH=1.8.0
   pip install torch-scatter -f https://pytorch-geometric.com/whl/torch-${TORCH}+${CUDA}.html
   pip install torch-sparse==0.6.12 -f https://pytorch-geometric.com/whl/torch-${TORCH}+${CUDA}.html
   pip install torch-cluster -f https://pytorch-geometric.com/whl/torch-${TORCH}+${CUDA}.html
   pip install torch-spline-conv -f https://pytorch-geometric.com/whl/torch-${TORCH}+${CUDA}.html
   pip install torch-geometric==1.6.1
   

4. install mujoco-py following the instruction here.

Training

You can train your own models using the provided config in design_opt/cfg:

python design_opt/train.py 
--cfg derl
--derl_cfg design_opt/cfg/derl_configs/eval/point_nav.yml
--num_threads 20
--enable_wandb 1
--seed 0
--enable_infer 1

You can replace point_nav.yml with {escape.yml, patrol.yml, locomotion_vt.yml, locomotion_ft.yml, manipulation_box.yml} to train other environments. Here is the correspondence between the configs and the environments in the paper: Point Navigation, Escape Bowl, Patrol, Locomotion on Variable Terrain, Locomotion on Flat Terrain and Manipulate Box.

Our experiment is logged online with wandb, and set --enable_wandb to 0 if you want to disable it.

Visualization

If you have a display, run the following command to visualize the pretrained model for the Point Navigation:

python design_opt/eval.py 
--cfg derl
--derl_cfg design_opt/cfg/derl_configs/eval/point_nav.yml
--expID 2023_01_06-07:49:44
--epoch best
--enable_infer 1
--pause_design

Again, you can replace Point Navigation with {escape.yml, patrol.yml, locomotion_vt.yml, locomotion_ft.yml, manipulation_box.yml} to visualize other environments.

License

Please see the license for further details.