Task 1.3: Understand Bark

[MarcelBruckner]

2

Goal:

• Extract expert trajectories from PPO/etc. / From Interaction dataset
• Build / debug system
• Testing environment
• Do tutorials
• https://bark-simulator.readthedocs.io/en/latest/agent_components.html

[MarcelBruckner]

Subtasks

• [ ] Understand how agents perceives world (Observed world)
• [ ] Train PPO/SAC agent to generate trajectories
• [ ] Get expert trajectories from bark #19
• [ ] How to query trajectories from interaction dataset
• [ ] Get format of bark trajectories to then transfer to gail
• [ ] Replace gym environment with bark
• [ ] Understand how agents acts in world

[marvinlue]

Open Issues:

• Set-up VS-Code Debugger First steps: 1) Add configuration file in vs code and select "Python: Current File" 2) Select venv interpreter once venv is activated by (source dev_......sh) with short-cut: Ctrl+Shift+p -> click "Python: Select Interpreter" 3) Add bark directory to pythonpath for module import: Add in config file under env - pythonpath ":${workspaceFolder}"

!!! But still cant import/ work with modules from .cpp/.hpp !!! -> for example od8_const_vel_one_agent.py: can not load "from bark.commons import Params" in parameters.py