Transform2Act

This repo contains the official implementation of our paper:

Transform2Act: Learning a Transform-and-Control Policy for Efficient Agent Design
Ye Yuan, Yuda Song, Zhengyi Luo, Wen Sun, Kris Kitani
ICLR 2022 (Oral)
website | paper

Installation

Environment

• Tested OS: MacOS, Linux
• Python >= 3.7
• PyTorch == 1.8.0

Dependencies:

1. Install PyTorch 1.8.0 with the correct CUDA version.
2. Install the dependencies:

   pip install -r requirements.txt
   
3. Install torch-geometric with correct CUDA and PyTorch versions (change the CUDA and TORCH variables below):

   CUDA=cu102
   TORCH=1.8.0
   pip install torch-scatter -f https://pytorch-geometric.com/whl/torch-${TORCH}+${CUDA}.html
   pip install torch-sparse==0.6.12 -f https://pytorch-geometric.com/whl/torch-${TORCH}+${CUDA}.html
   pip install torch-cluster -f https://pytorch-geometric.com/whl/torch-${TORCH}+${CUDA}.html
   pip install torch-spline-conv -f https://pytorch-geometric.com/whl/torch-${TORCH}+${CUDA}.html
   pip install torch-geometric==1.6.1
   
4. install mujoco-py following the instruction here.
5. Set the following environment variable to avoid problems with multiprocess trajectory sampling:

   export OMP_NUM_THREADS=1
   

Pretrained Models

• You can download pretrained models from Google Drive or BaiduYun (password: 2x3q).
• Once the transform2act_models.zip file is downloaded, unzip it under the results folder of this repo:

  mkdir results
  unzip transform2act_models.zip -d results
  
  Note that the pretrained models directly correspond to the config files in design_opt/cfg.

Training

You can train your own models using the provided config in design_opt/cfg:

python design_opt/train.py --cfg hopper --gpu 0

You can replace hopper with {ant, gap, swimmer} to train other environments. Here is the correspondence between the configs and the environments in the paper: hopper - 2D Locomotion, ant - 3D Locomotion, swimmer - Swimmer, and gap - Gap Crosser.

Visualization

If you have a display, run the following command to visualize the pretrained model for the hopper:

python design_opt/eval.py --cfg hopper

Again, you can replace hopper with {ant, gap, swimmer} to visualize other environments.

You can also save the visualization into a video by using --save_video:

python design_opt/eval.py --cfg hopper --save_video

This will produce a video out/videos/hopper.mp4.

Citation

If you find our work useful in your research, please cite our paper Transform2Act:

@inproceedings{yuan2022transform2act,
  title={Transform2Act: Learning a Transform-and-Control Policy for Efficient Agent Design},
  author={Yuan, Ye and Song, Yuda and Luo, Zhengyi and Sun, Wen and Kitani, Kris},
  booktitle={International Conference on Learning Representations},
  year={2022}
}

License

Please see the license for further details.