Authors: Zhangjie Cao, Minae Kwon, Dorsa Sadigh

Source code accompanying our paper. Also see our project web page.

This code requires Python3. We use version 3.7. The Python3 requirements are specified in requirements.txt. We recommend creating using a virtual environment and then installing requirements as follows,

pip install -r requirements.txt

• Install the env

  • cd driving
  • pip install -e .

• When running these scripts, please specify a barrier size [1,3,5,7].

• Ours:

  • run python train_nav1.py --expt_type ours --bs [1,3,5,7]

• Fine tune:

  • run python train_nav1.py --expt_type finetune --bs [1,3,5,7]

• Random:

  • run python train_nav1.py --expt_type direct --bs [1,3,5,7]

• PNN:

  • run python baselines/PNN/train.py --bs [1,3,5,7]

• L2SP:

  • run python baselines/L2SP/train.py --bs [1,3,5,7]

• BSS:

  • run python baselines/BSS/train.py --bs [1,3,5,7]

• Install the env

  • cd driving
  • pip install -e .

• Ours:

  • run ./train_nav2.sh

• Install the env

  • cd lunarlander
  • pip install -e .

• Ours:

  • run ./train_lunarlander.sh

• When running our method, you will want to change the barrier penalties as part of the curriculum. Make sure that the correct barrier penalty is specified on line 114-117 of fetch/fetch_envs/fetch_env.py The exact curriculum we used is detailed in the supplementary materials
• Please also specify whether you are fine-tuning from Right to Left (RL) or from Left to Right (LR).
• Ours:
  • run python train_fetch.py --expt_type ours --bs [RL, LR]
• Fine tune:
  • run python train_fetch.py --expt_type finetune --bs [RL, LR]
• Random:
  • run python train_fetch.py --expt_type direct --bs [RL, LR]
• PNN:
  • run python baselines_fetch/PNN/train.py --bs [RL, LR]
• L2SP:
  • run python baselines_fetch/L2SP/train.py --bs [RL, LR]
• BSS:
  • run python baselines_fetch/BSS/train.py --bs [RL, LR]

• Install the env

  • cd ant/imperfect_envs
  • pip install -e .

• Ours:

  • cd ant/transfer
  • run curriculum.sh

Please refer to the README in the assistive-gym directory for installation and training instructions.