Complex locomotion skill learning via differentiable physics

Installation

pip install -r requirements.txt

Train

python3 main_diff_phy.py --config_file cfg3d/sim_quad.json --train

python3 main_diff_phy.py --config_file cfg3d/sim_spider.json --train

View train statstic

tensorboard --logdir saved_results/sim_quad

tensorboard --logdir saved_results/sim_spider

Interactive control

python3 interactive_3d.py --config_file cfg3d/sim_quad.json --no-tensorboard

python3 interactive_3d.py --config_file cfg3d/sim_spider.json --no-tensorboard

Evaluate

python3 main_diff_phy.py --config_file cfg3d/sim_quad.json --evaluate --no-tensorboard --evaluate_path saved_results/sim_quad/DiffTaichi_DiffPhy

python3 main_diff_phy.py --config_file cfg3d/sim_spider.json --evaluate --no-tensorboard --evaluate_path saved_results/sim_spider/DiffTaichi_DiffPhy

Cite this work

@article{fang2022complex,
  title={Complex locomotion skill learning via differentiable physics},
  author={Fang, Yu and Liu, Jiancheng and Zhang, Mingrui and Zhang, Jiasheng and Ma, Yidong and Li, Minchen and Hu, Yuanming and Jiang, Chenfanfu and Liu, Tiantian},
  journal={arXiv preprint arXiv:2206.02341},
  year={2022}
}