rgalljamov/DRLoco

Simple-to-use-and-extend implementation of the DeepMimic Approach using the MuJoCo Physics Engine and Stable Baselines 3, mainly for locomotion tasks.

Deep Reinforcement Learning by Imitation with MuJoCo and Stable Baselines 3

DRLoco = DeepMimic ( MuJoCo, StableBaselines3 )

This repository...

• implements the DeepMimic Framework
• using the PPO algorithm from the Stable-Baselines3 repository
• to obtain (deep reinforcement) learning-based controllers
• for (walking) robots simulated with the MuJoCo Physics Engine.

This repository is for you, when:

• you have a bipedal robot and need a controller to generate stable human-like walking
• you have a MuJoCo model of a bipedal robot and you want it to learn to walk like a human
• you have any kind of a legged robot and a set of reference trajectories (e.g. motion capturing) and you want a robust controller to let your robot imitate the reference motion
• you want to try out the DeepMimic Approach with minimal effort
• you need high quality mocap data for Imitation Learning

Documentation

Documentation is available online: https://drloco.readthedocs.io/
The documentation is not yet fully finished and currently on hold.