Thank you for organizing this! And congrats to syllogismos on your great results!

As an opportunity to learn more: It would be nice to hear a little more about how/if you modified the reward function and what approach/algorithm you used. (rllab’s DDPG or something else?)

Looking forward to the next challenge!

Is there an approximate starting date for this challenge?

Hi,

I noticed that the geometry (at least for visualization) seems to be incorrect. I am not sure if this affects the calculation or not. What I noticed is that the geometry for left and right femur are the same:

https://github.com/stanfordnmbl/osim-rl/blob/master/osim/models/Geometry/femur.vtp https://github.com/stanfordnmbl/osim-rl/blob/master/osim/models/Geometry/l_femur.vtp

This can be seen in the attached picture

I assume that this could be fixed by applying a transformation around here or the corresponding part for the other femur…

https://github.com/stanfordnmbl/osim-rl/blob/master/osim/models/gait9dof18musc.osim#L253-L268

Another issue I recognized is that somehow, the pelvis position in the observation vector is not in X, Y, Z order but it seems Z, X, Y. Still, the supposed Z position/speed values are quite odd and I am wondering what they really are…

These plus other issues I already described make me doubt the validity model… Could you provide a little more information about this? I would be happy to help and provide fixes but I am yet not sure if I am missing something.

Thanks!

Hi! I am trying to understand then observation vector and I found a few strange issues. Could you clarify if there is a misunderstanding on my side?

1) If my interpretation of the observation vector is correct, the rewards seems to be calculated on the y delta: I am assuming that positions are in the format [X,Y,Z]:

The pelvis position is set here: https://github.com/stanfordnmbl/osim-rl/blob/master/osim/env/human.py#L76-L78 https://github.com/stanfordnmbl/osim-rl/blob/master/osim/env/human.py#L116-116

And the reward is calculated here (using Y coordinate): https://github.com/stanfordnmbl/osim-rl/blob/master/osim/env/human.py#L28-L29

Is this a bug or where is my mistake?

2) pelvis X speed seem to be the opposite to what I expected. Positive X speed means that the skeleton is moving backwards…

3) left and right (knee, hip, ankle) seem to be swapped at least with respect to what is represented in the visualization. I am using the code in getFootL as a reference. Unless I made mistake, when the right foot is high, I get a high value in the left one.

https://github.com/stanfordnmbl/osim-rl/blob/master/osim/env/human.py#L18-L20

Thanks a lot for putting this together! It is a lot of fun!

Hi ! Is it possible/valid to work in teams of two people? Collaboration is always fun!

How should that work? Should we create a new account or is it possible to link our individual accounts only for this challenge?

Thanks!