amathislab / lattice Goto Github PK

Hi, thanks for sharing your code. Recently, I am trying to reproduce your result in your paper. But I got different results. Could you give me some insights?

I didn't modify any code, just ran the following commands

• State-independent Lattice freq=1

docker run --rm --gpus all -it \ 
--mount type=bind,src="$(pwd)/src",target=/src \
--mount type=bind,src="$(pwd)/data",target=/data \ 
--mount type=bind,src="$(pwd)/output",target=/output \ 
albertochiappa/myo-cuda-pybullet \
python3 src/main_pose_elbow.py --use_lattice

• non-sde exploration

docker run --rm --gpus all -it \ 
--mount type=bind,src="$(pwd)/src",target=/src \
--mount type=bind,src="$(pwd)/data",target=/data \ 
--mount type=bind,src="$(pwd)/output",target=/output \ 
albertochiappa/myo-cuda-pybullet \
python3 src/main_pose_elbow.py

• State-dependent Lattice freq=1

docker run --rm --gpus all -it \ 
--mount type=bind,src="$(pwd)/src",target=/src \
--mount type=bind,src="$(pwd)/data",target=/data \ 
--mount type=bind,src="$(pwd)/output",target=/output \ 
albertochiappa/myo-cuda-pybullet \
python3 src/main_pose_elbow.py  --use_lattice --use_sde

• State-dependent Lattice freq=1 init_log_std=1

docker run --rm --gpus all -it \ 
--mount type=bind,src="$(pwd)/src",target=/src \
--mount type=bind,src="$(pwd)/data",target=/data \ 
--mount type=bind,src="$(pwd)/output",target=/output \ 
albertochiappa/myo-cuda-pybullet \
python3 src/main_pose_elbow.py  --use_lattice --use_sde --init_log_std=1

and here is the result I got.

So, my question is:

1. Some commands in your Readme don't open the --use_sde flag, so should I open the flag if I want to reproduce the result in your paper?
2. The default args are different from your paper, which args I should use? such as the init_log_std in main_pose_elbow.py.

I managed to install the conda environment on a remote Ubuntu 20.04.6 LTS server without root access (sudo), based on the provided instructions.
But I met two additional issues not mentioned in the instructions.
I list them here in case someone meets the same problem.

1. Cannot install the mjrl repo with git in conda.
   Solution: install git through conda install, see the discussion here: https://stackoverflow.com/a/76234380

2. Trouble with the MuJoCo installation, because of having no root access.
   Solution: follow the instructions in these links:
   openai/mujoco-py#627
   openai/mujoco-py#96 (comment)
   openai/mujoco-py#635