lucidsim 0.0.1rc1

LucidSim and Benchmark Suite

Experiments

1. To generate data

• run weaver.render_node in the dream-weaver repository

• run teacher streamer, turn off streaming

• run vuer_monitor to monitor the images

2. To Behavior Clone

lucidim.learning --env <env> --algo <algo> --num_timesteps <num_timesteps> --log_path <log_path> --save_path <save_path>

To Evaluate

• run lucidsim_experiments.sweeps.evaluation_sweep to generate the sweeps

• run lucidsim_experiments.launch_evaluation.py to launch the evaluation runs

Environments

LucidSim Environments: each with lucidsim, rgb, heightmap, depth render.

• ☐ Parkour (+ cones)

• ☐ Stairs (+ cones)

• ☐ Hurdle (+ cones)

• ☐ Gaps (+ cones)

• ☐ Chase ball (+ cones)

Real World Benchmarks: each with morning, noon, night, depth,

• ☐ Curbs

• ☐ Tables

• ☐ Stairs

• ☐ Ramps

• ☐ Parkour

Experiments

• Chase - domain_rand

• Chase - lucidsim

• Chase - render

• Hallway - lucidsim

• Parkour - depth

• Parkour - domain_rand

• Parkour - expert

• Parkour - lucidsim

• Parkour - lucidsim_2_frame

• Parkour - lucidsim_3_frame

• Parkour - render_2_frame

• Parkour - render_3_frame

• Street - lucidsim

Skybox: Each environment comes in lightings that corresponds to different time of day.

• ☐ daylight

• ☐ dawn: yellow light, low incidence level (long shadow)

• morning

• evening: spotlight, low ambient, streetlight in the background

Setup

Unfortunately, gym is a mess. You need the following versions

pip install setuptools==65.5.0 pip==21 wheel==0.38.4
pip install gym==0.21.0
pip install gym-dmc==0.2.9