LearningHumanoidWalking

Requirements:

Python version: 3.7.11
Pytorch
pip install:
- mujoco==2.1.5
- mujoco-python-viewer
- ray
- transforms3d

Usage:

Environment names supported:

Task Description	Environment name
Basic Walking Task	'jvrc_walk'
Stepping Task (using footsteps)	'jvrc_step'

To train:

$ python run_experiment.py train --logdir <path_to_exp_dir> --num_procs <num_of_cpu_procs> --env <name_of_environment>

To play:

We need to write a script specific to each environment.
For example, debug_stepper.py can be used with the jvrc_step environment.

$ PYTHONPATH=.:$PYTHONPATH python scripts/debug_stepper.py --path <path_to_exp_dir>

What you should see:

Ascending stairs:

Descending stairs:

Walking on curves:

Citation

If you find this work useful in your own research:

@article{singh2022learning,
  title={Learning Bipedal Walking On Planned Footsteps For Humanoid Robots},
  author={Singh, Rohan Pratap and Benallegue, Mehdi and Morisawa, Mitsuharu and Cisneros, Rafael and Kanehiro, Fumio},
  journal={arXiv preprint arXiv:2207.12644},
  year={2022}
}