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NIPS 2017: Learning to Run

Reinforcement learning environments with musculoskeletal models


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Observation Vector

Posted by tomvw about 2 years ago

Hi all,

I am very excited to start playing around with this challenge. Everything works very smoothly!

I have a remark on the observation vector - I think it holds a duplicate value of the pelvis_x and pelvis_y position. I just want to check with you to be sure I have the correct version of everything. I also have a suggestion/question: is it in scope, maybe later during the challenge, to adapt the observation vector? I think it would be interesting to include some information on the muscles (length/force). Geyer has developed a very cool feedback controller for a model that has dynamics that are very comparable to what is implemented in OpenSim (paper: https://www.cs.cmu.edu/~hgeyer/Publications/Geyer&Herr-ReflexModel2Column.pdf). For me it shows that information on the muscle state might enable a much faster ‘good solution’ for the controllers we are trying to develop.

Cheers a enjoy the fun!

Tom

1

Posted by Lukasz  about 2 years ago |  Quote

Thanks for participation! It is possible that pelvis appears twice. Can you tell me on which coordinates you get the pelvis twice?

What do you mean by adapting the observation vector? You can definitely use some function of the observation vector as an input to the algorithm, instead of the observation vector itself.

Best, Łukasz

Posted by tomvw  about 2 years ago |  Quote

Lukasz,

The first indices pelvis position appears is 1 and 2 (for x,y) and next it appears again on indices 24, 25.

For the observation vector I meant whether it would possible to include other information on the state of the model in OpenSim (for example muscle state or ground reaction force). I think this would probably mean some adaptations in the methods of the opensim-rl environment. So it is probably a bit out of the scope of this challenge :).

regards Tom

Posted by Anton_Pechenko  about 2 years ago |  Quote

Sorry for posting here. I have no permissions to create topic. Is there way to create gif of run? I run simulator on 8 core intel i7 and GTX 1080 and simulator shows about 1-5 fps, so watch gifs may be more convenient way to see how agent acts

1

Posted by Artix  almost 2 years ago |  Quote

Hi admins!

Thank you for the challenge. I have 2 questions:

1) Why aren’t we allowed to create a topic on this forum? It says that we don’t have the permission. 2) Can we compete in a team (of 2 people)?

Thanks! Jules

Posted by Lukasz_  almost 2 years ago |  Quote

Hi, 1) the bug related to creating topics on the forum has been fixed, sorry about that 2) yes, feel free to compete as a team, although in case you win, we will only be able to attribute one award,

Thanks for competing,

Best, Łukasz