Code for the:
If you use our code for a scientific paper, please cite:
Chatzilygeroudis, K., Rama, R., Kaushik, R., Goepp, D., Vassiliades, V., & Mouret, J.-B. (2017). Black-Box Data-efficient Policy Search for Robotics. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
In BibTex:
@inproceedings{chatzilygeroudis2017black,
title={{Black-Box Data-efficient Policy Search for Robotics}},
author={Chatzilygeroudis, Konstantinos and Rama, Roberto and Kaushik, Rituraj and Goepp, Dorian and Vassiliades, Vassilis and Mouret, Jean-Baptiste},
booktitle={Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
year={2017},
organization={IEEE}
}
or:
Chatzilygeroudis, K., & Mouret, J.-B. (2018). Using Parameterized Black-Box Priors to Scale Up Model-Based Policy Search for Robotics. Proceedings of the International Conference on Robotics and Automation (ICRA).
In BibTex:
@inproceedings{chatzilygeroudis2018using,
title={{Using Parameterized Black-Box Priors to Scale Up Model-Based Policy Search for Robotics}},
author={Chatzilygeroudis, Konstantinos and Mouret, Jean-Baptiste},
booktitle={Proceedings of the International Conference on Robotics and Automation},
year={2018},
organization={IEEE}
}
Black-DROPS is funded by the ResiBots ERC Project (http://www.resibots.eu).
git clone --recursive https://github.com/resibots/blackdrops.git
(or git clone --recursive git@github.com:resibots/blackdrops.git
)The Black-DROPS algorithm is a model-based policy search algorithm (the ICML 2015 tutorial on policy search methods for robotics is a good source for reading) with the following main properties:
To get a better idea of how well Black-DROPS works please check the paper. Here are the main figures of the paper for quick reference (the "No var" variants are variants of Black-DROPS without taking into account the uncertainty of the model):
In short, you should:
Please look at the installation guide. You will find detailed guidelines on how to properly install all the dependencies, compile the Black-DROPS code and run scenarios. There is also an advanced installation guide which is recommended for users experienced with build systems and command line usage.
Please look at the implemented scenarios page. You will find a brief description of all the implemented scenarios and recommended parameters (e.g., number of maximum function evaluations for CMA-ES) for running them.
Please look at the basic tutorial. You will find detailed comments on how to create, compile and run your own scenarios.
Please look at the DART scenarios tutorial. Make sure that you have already read the basic tutorial, before proceeding to this one.