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xbpeng / DeepMimic

Motion imitation with deep reinforcement learning.
https://xbpeng.github.io/projects/DeepMimic/index.html
MIT License
2.27k stars 485 forks source link

Change few parameters (terrain, speed,...) #161

Open knov836 opened 3 years ago

knov836 commented 3 years ago

Hello, I am currently working on DeepMimic and using the commit 521d348 (the last one to this day to my knowledge). I am wondering whether it is possible to change the speed of the character as it seems to be the case in the video : can we graphically display the speed and make it vary when launching DeepMimic via python DeepMimic.py? Or is it only changeable in the training? Moreover, I would like to change the terrain, add obstacles like boxes put on the trajectory. Is it possible to do that in the current version? Best regards,

xbpeng commented 2 years ago

What do you mean by change the speed of the character? You mean changing the target speed that the character should walk/run in? If so, you can run run_amp_heading_humanoid3d_locomotion_args.txt, and decrease/increase the target speed using the '1' and '2' keys.

The code currently doesn't include obstacles. But you can modify the simulation to add objects in the sim with bullet.

knov836 commented 2 years ago

Yes, I meant the target speed. Thank you for the answer. Do you know how to modify the terrain? For example, adding holes etc.