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Learning Skillful Resets

Overview

This repository contains the code for the paper Continual Learning of Control Primitives: Acquisition of Behaviors via Reset-Games.

Running the baselines

Run python setup.py develop within ant-hrl-maze if you are not using Nix.

To run our code, run

./scripts/adv.py --env-name="AntResetFree-v4" --logdir=./log/ours_reset_free
./scripts/adv.py --env-name="Ant-v4" --logdir=./log/ours_reset

To run the DIAYN baselines, run

./scripts/diayn.py --env-name="AntResetFree-v4" --logdir=./log/ours_reset_free
./scripts/diayn.py --env-name="Ant-v4" --logdir=./log/ours_reset

To run the HRL experiments, run

./scripts/waypoint --checkpoint-path=./log/ours_reset_free/checkpoint.pkl --logdir=./log/ours_waypoint
./scripts/waypoint --checkpoint-path=./log/ours_reset/checkpoint.pkl --logdir=./log/ours_waypoint

./scripts/maze --checkpoint-path=./log/ours_reset_free/checkpoint.pkl --logdir=./log/ours_maze
./scripts/maze --checkpoint-path=./log/ours_reset/checkpoint.pkl --logdir=./log/ours_maze

To run the HRL experiments for DIAYN or DADS, change the checkpoint-path to point to the checkpoint.pkl and flags.txt respectively.

How to run

Spawn a shell

The easiest way to run the code is to use Nix, the package manager. Download and install Nix from the website, and run nix-shell in the root directory. You will automatically have a shell with all the dependencies installed. In case cuda fails to work, install nix-vendor-gl using the instructions on the GitHub or simply run export LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu which is the path that has libcuda.so.

In order to use MuJoCo, place the license key at ~/secrets/mjkey.txt.

In order to not recompile the libraries from scratch, install cachix and run cachix use pyrl.

You can also just use poetry and install the dependencies and take care of cuda yourself. You might need to run poetry update. Or, if you are feeling adventurous, manually install them by hand.

Build the Docker container

Install nix, then run make docker. Or just run docker pull siddharthverma/adversarial. All scripts in the folder ./scripts are installed as executables in the docker container. For example, run docker run siddharthverma/adversarial adv --help.