muscle_memory

link to experiments and report: muscle-memory

Installation

conda create --name muscle python=3.8
conda activate muscle 
cd myosuite 
pip install -e . 

install/modify additional packages

pip install joblib scikit-learn 

pip install setuptools==65.5.0 pip==21

pip install stable-baselines3==1.7 
pip install gym==0.13

running experiments

• First pretrain muscle synergies SAR by runninig train_SAR100.py followed by collect_data.py to collect the rollouts
• train_retreival.py runs the main retreival RL polcy (SAC with SAR action memory) along with the flat action retrieval ablation
• train_SAR100.py runs the other baselines including SAR-RL
• Use plot_result.py for visualisig reuslts of a single seed and plot_seed.py for the combined results