WentDong/Adapt

Actuator Degeneration Adaptation Transformer

PythonMIT

Adapt

Actuator Degeneration Adaptation Transformer. In submission progress of DAI 2023.

Videos

Total.mp4

Environment Require

Nvidia IsaacGym
PyTorch

Details could be viewd in requirements.txt.

Teacher Policy

To train a teacher policy, please follow the example command:

python legged_gym/scripts/train.py --task a1_amp --sim_device $DEVICE --rl_device $DEVICE \
	--experiment_name $EXP --rum_name $RUN --max_iteration $ITER --joint $JOINT --seed $SEED

$JOINT means the id of joint whose actuator is suffering the degradation.
To evaluate, please follow the example command:

python legged_gym/scripts/evaluate.py --task a1_amp --sim_device $DEVICE --rl_device $DEVICE \
	--experiment_name $EXP --load_run $RUN --checkpoint $CHECKPOINT --file_name $FILE --joint $JOINT

If you want to test the performance over all 12 situations, please set $JOINT=-1.
To collect dataset, please follow the example command:

python legged_gym/scripts/collect.py --task a1_amp --sim_device $DEVICE --rl_device $DEVICE \
	--experiment_name $EXP --load_run $RUN --checkpoint $CHECKPOINT --file_name $FILE --joint $JOINT

To visualize the performance, please follow the example command:

python legged_gym/scripts/play.py --task a1_amp --sim_device $DEVICE --rl_device $DEVICE \
	--experiment_name $EXP --load_run $RUN --checkpoint $CHECKPOINT --joint $JOINT --rate $RATE

$RATE means the degradation rate, -1 for randomization.

Student Policy

To train a student policy, please follow the example command:
```
python scripts/train_Adapt.py
```
The detail args could be viewed in args.yaml.
To evaluate, please follow the example command:
```
python scripts/evaluate_Adapt.py
```
The detail args could be viewed in test_args.yaml.
To visualize the performance, please follow the example command:
```
python scripts/play_Adapt.py
```
The detail args could be viewed in test_args.yaml.