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sidm's Introduction

SIDM

Maintainer: Sean J. Wang, [email protected]

Required Dependencies

NumPy

  • Numpy is used for storage of parameters and small math operations

PyTorch

  • PyTorch is used for network training

wheeledRobotSimPybullet

  • wheeledRobotSimPybullet is the simulation used to gather data. This package also contains the dataset class used for the replay buffer. It also contains state transformations used during training.

Dataset

Dataset is generated using a PyBullet simulated wheeled robot. Two different systems are provided. The first has a novice and expert robot that are more similar to each other.

Running SIDM Domain Transfer Learning

After the dataset is generated, execute "sidmTraining.py" to run the SIDM training procedure. "sidmNetworks.py" contains all networks needed for SIDM as well as "sidmLosses" class used to calculate all training losses.

sidm's People

Contributors

seanjwang avatar

Watchers

James Cloos avatar avatar Aaron M. Johnson avatar avatar Nathan Kong avatar Joe Norby avatar

sidm's Issues

missing files

Hi Sean, it seems like some files are missing. From the README, at least sidmTraining.py and sidmNetworks.py, or am I missing something?

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