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Support for dynamics randomization #14

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ryanjulian opened this issue Jun 11, 2018 · 1 comment
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Support for dynamics randomization #14

ryanjulian opened this issue Jun 11, 2018 · 1 comment
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@CatherineSue
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@ryanjulian
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https://blog.openai.com/generalizing-from-simulation/

We should probably not attempt this until #4 is done.

For now, only MuJoCo support is necessary. If MuJoCo is too burdensome, we can consider switching engines (e.g. Bullet)

Related issue openai/mujoco-py#148 suggests this may be nontrivial.

Imported from ryanjulian/rllab#61
@ryanjulian ryanjulian mentioned this issue Jun 11, 2018
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@ryanjulian ryanjulian assigned CatherineSue and ghost Jun 11, 2018
@CatherineSue CatherineSue mentioned this issue Jun 11, 2018
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@ryanjulian ryanjulian added this to the Week of June 11th milestone Jun 12, 2018
CatherineSue added a commit that referenced this issue Jun 12, 2018
@CatherineSue
Dynamics randomization for MuJoCo (#51)
438f9df 
Add support for dynamics randomization for mujoco environment.
Includes a simple data structure consisting of a list of variation
objects, a wrapped environment of mujoco to perform dynamics
randomization.
Each variation object is an instance of the Variation class
that works as a container for each of the fields used to randomized a
dynamic parameter within the simulation environment.
The wrapper class of mujoco performs dynamics randomization on each
reset().
The data structure and the wrapper class are tested in
test_dynamics_rand.py.

Refer to: #14
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Fixed by #51

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