diff --git a/README.md b/README.md index 4eff32c798514182dbf9cefe2f67ce0092cc3527..f0fee497b9d0935bea3d2ba2f92b3bc62f466142 100644 --- a/README.md +++ b/README.md @@ -10,10 +10,10 @@ In the framework, a reformulation of the well-known MFEA/MFEA-II algorithms is i 2. **Adapted crossover operator**: the crossover operator must support the previous aspects by preventing neural models from exchanging irrelevant information. 3. **Layer-based Transfer Learning**: unlike in traditional means to implement Transfer Learning, the number of layers to be transferred between models evolved for different tasks is autonomously decided by A-MFEA-RL during the search. -The code works on top of . The experimentation carried out considers three scenarios; *TOY*, *MT-10/MT-10-R* and *MT-50/MT-50-R* (Results included in [Results](#results) Section ), *R* denotes random initialized episodes as in the next image: +The code works on top of [Metaworld-v1](https://github.com/rlworkgroup/metaworld). The experimentation carried out considers three scenarios; *TOY*, *MT-10/MT-10-R* and *MT-50/MT-50-R* (Results included in [Results](#results) Section ), *R* denotes random initialized episodes as in the next image: <h3>MT-10-R results -<img src="/uploads/16013a3d9ec2050cca0e0616189bea87/out.gif" width="80%" /> </h3> +<img src="/uploads/c743460c60cddf1bb099ecae3ea6365d/MT10.gif" width="80%" /> </h3> # Running the experimentation @@ -23,7 +23,7 @@ conda env create -f mujoco36.yml conda activate mujoco36 ``` -A-MFEA-RL depends on Metaworld and  (license required). To install Metaworld please follow the instructions in the  or run: +A-MFEA-RL depends on Metaworld and [MuJoco](https://github.com/openai/mujoco-py) (license required). To install Metaworld please follow the instructions in the [official GitHub](https://github.com/rlworkgroup/metaworld) or run: ```bash pip install git+https://github.com/rlworkgroup/metaworld.git@master#egg=metaworld @@ -40,57 +40,56 @@ python3 exp.py -exp INT -t INT -p STR * `-p`: STRING. Name of the folder under `summary` where results are saved. # Results -| | | MT-10 | | | MT-10-R | | | MT-50 | | | MT-50-R | | -|-|:-:|:-:|:-:|:-:|:-:|:-:|:-:|:-:|:-:|:-:|:-:|:-:| -| **Environment name (complexity)** | **A** | **B** | **C** | **A** | **B** | **C** | **A** | **B** | **C** | **A** | **B** | **C** | -| assembly (H) | - | - | - | - | - | - | 0 | 0 | 0 | 0 | 0 | 0 | -| basketball (H) | - | - | - | - | - | - | 0 | 0 | 0 | 22 | 33 | 0 | -| bin-picking (H) | - | - | - | - | - | - | 0 | 0 | 0 | 0 | 0 | 11 | -| box-close (H) | - | - | - | - | - | - | 44 | 44 | 0 | 22 | 33 | 0 | -| button-press-topdown (M) | 100 | 100 | 100 | 100 | 89 | 91 | 100 | 100 | 100 | 100 | 100 | 97 | -| button-press-topdown-wall (H) | - | - | - | - | - | - | 67 | 78 | 100 | 67 | 100 | 100 | -| button-press (M) | - | - | - | - | - | - | 44 | 67 | 100 | 44 | 55 | 100 | -| button-press-wall (H) | - | - | - | - | - | - | 100 | 100 | 100 | 100 | 100 | 98 | -| coffee-button (H) | - | - | - | - | - | - | 44 | 78 | 100 | 56 | 89 | 100 | -| coffee-pull (M) | - | - | - | - | - | - | 78 | 100 | 0 | 100 | 100 | 70 | -| coffee-push (M) | - | - | - | - | - | - | 78 | 89 | 100 | 89 | 89 | 40 | -| dial-turn (H) | - | - | - | - | - | - | 100 | 100 | 100 | 100 | 100 | 99 | -| disassemble (H) | - | - | - | - | - | - | 0 | 0 | 0 | 0 | 0 | 0 | -| door-close (H) | - | - | - | - | - | - | 78 | 56 | 100 | 78 | 55 | 100 | -| door-lock (H) | - | - | - | - | - | - | 89 | 100 | 100 | 89 | 89 | 100 | -| door-open (H) | 100 | 33 | 100 | 100 | 100 | 100 | 78 | 67 | 100 | 67 | 67 | 100 | -| door-unlock (M) | - | - | - | - | - | - | 78 | 89 | 100 | 89 | 100 | 100 | -| drawer-close (H) | 100 | 100 | 100 | 100 | 100 | 100 | 79 | 89 | 100 | 67 | 78 | 100 | -| drawer-open (H) | 0 | 33 | 100 | 33 | 0 | 99 | 22 | 33 | 100 | 22 | 44 | 98 | -| faucet-close (M) | - | - | - | - | - | - | 100 | 67 | 100 | 78 | 44 | 81 | -| faucet-open (M) | - | - | - | - | - | - | 89 | 89 | 100 | 89 | 67 | 91 | -| hammer (H) | - | - | - | - | - | - | 33 | 56 | 100 | 11 | 67 | 100 | -| hand-insert (M) | - | - | - | - | - | - | 100 | 100 | 100 | 100 | 100 | 100 | -| handle-press-side (H) | - | - | - | - | - | - | 0 | 11 | 100 | 100 | 33 | 40 | -| handle-press (H) | - | - | - | - | - | - | 89 | 78 | 60 | 100 | 78 | 35 | -| handle-pull-side (H) | - | - | - | - | - | - | 56 | 67 | 0 | 56 | 89 | 0 | -| handle-pull (H) | - | - | - | - | - | - | 89 | 100 | 0 | 78 | 100 | 0 | -| lever-pull (M) | - | - | - | - | - | - | 0 | 0 | 0 | 0 | 0 | 0 | -| peg-insert-side (H) | 67 | 33 | 0 | 56 | 56 | 0 | 0 | 22 | 0 | 44 | 33 | 0 | -| peg-unplug-side (H) | - | - | - | - | - | - | 100 | 100 | 0 | 100 | 100 | 0 | -| pick-out-of-hole (H) | - | - | - | - | - | - | 0 | 0 | 0 | 0 | 0 | 0 | -| pick-place (H) | 66 | 100 | 0 | 0 | 0 | 0 | 44 | 11 | 0 | 33 | 11 | 0 | -| pick-place-wall (H) | - | - | - | - | - | - | 44 | 33 | 0 | 33 | 0 | 10 | -| plate-slide-back-side (M) | - | - | - | - | - | - | 100 | 89 | 40 | 78 | 89 | 45 | -| plate-slide-back (M) | - | - | - | - | - | - | 67 | 89 | 100 | 89 | 100 | 58 | -| plate-slide-side (M) | - | - | - | - | - | - | 100 | 89 | 100 | 55 | 100 | 100 | -| plate-slide (M) | - | - | - | - | - | - | 33 | 100 | 100 | 78 | 78 | 77 | -| push-back (E) | - | - | - | - | - | - | 89 | 100 | 0 | 89 | 100 | 71 | -| push (E) | 100 | 100 | 100 | 78 | 67 | 59 | 44 | 89 | 100 | 78 | 33 | 47 | -| push-wall (M) | - | - | - | - | - | - | 56 | 33 | 100 | 55 | 44 | 47 | -| reach (E) | 100 | 100 | 100 | 100 | 100 | 91 | 100 | 100 | 100 | 100 | 100 | 98 | -| reach-wall (E) | - | - | - | - | - | - | 100 | 100 | 100 | 100 | 100 | 98 | -| shelf-place (H) | - | - | - | - | - | - | 0 | 0 | 0 | 44 | 55 | 0 | -| soccer (E) | - | - | - | - | - | - | 67 | 78 | 0 | 55 | 33 | 48 | -| stick-pull (H) | - | - | - | - | - | - | 11 | 33 | 0 | 11 | 44 | 79 | -| stick-push (H) | - | - | - | - | - | - | 0 | 0 | 0 | 11 | 0 | 100 | -| sweep-into (E) | - | - | - | - | - | - | 100 | 78 | 100 | 67 | 89 | 80 | -| sweep (E) | - | - | - | - | - | - | 100 | 89 | 100 | 100 | 67 | 74 | -| window-close (H) | 33 | 33 | 100 | 100 | 78 | 100 | 67 | 44 | 100 | 89 | 44 | 100 | -| window-open (H) | 67 | 100 | 100 | 78 | 89 | 99 | 11 | 67 | 100 | 44 | 78 | 93 | -| **Average success rate** | 73.3 | 73.2 | **80.0** | **74.5** | 67.9 | 73.9 | 57.3 | **62.0** | 60.0 | 61.5 | **62.1** | 59.7 | +| **Environment name (complexity)** | **MT-10** | **MT-10-R** | **MT-50** | **MT-50-R** | +|-----------------------------------|-----------|-------------|-----------|-------------| +| assembly (H) | - | - | 0 | 0 | +| basketball (H) | - | - | 0 | 0 | +| bin-picking (H) | - | - | 0 | 11 | +| box-close (H) | - | - | 0 | 0 | +| button-press-topdown (M) | 100 | 91 | 100 | 97 | +| button-press-topdown-wall (H) | - | - | 100 | 100 | +| button-press (M) | - | - | 100 | 100 | +| button-press-wall (H) | - | - | 100 | 98 | +| coffee-button (H) | - | - | 100 | 100 | +| coffee-pull (M) | - | - | 0 | 70 | +| coffee-push (M) | - | - | 100 | 40 | +| dial-turn (H) | - | - | 100 | 99 | +| disassemble (H) | - | - | 0 | 0 | +| door-close (H) | - | - | 100 | 100 | +| door-lock (H) | - | - | 100 | 100 | +| door-open (H) | 100 | 100 | 100 | 100 | +| door-unlock (M) | - | - | 100 | 100 | +| drawer-close (H) | 100 | 100 | 100 | 100 | +| drawer-open (H) | 100 | 99 | 100 | 98 | +| faucet-close (M) | - | - | 100 | 81 | +| faucet-open (M) | - | - | 100 | 91 | +| hammer (H) | - | - | 100 | 100 | +| hand-insert (M) | - | - | 100 | 100 | +| handle-press-side (H) | - | - | 100 | 40 | +| handle-press (H) | - | - | 60 | 35 | +| handle-pull-side (H) | - | - | 0 | 0 | +| handle-pull (H) | - | - | 0 | 0 | +| lever-pull (M) | - | - | 0 | 0 | +| peg-insert-side (H) | 0 | 0 | 0 | 0 | +| peg-unplug-side (H) | - | - | 0 | 0 | +| pick-out-of-hole (H) | - | - | 0 | 0 | +| pick-place (H) | 0 | 0 | 0 | 0 | +| pick-place-wall (H) | - | - | 0 | 10 | +| plate-slide-back-side (M) | - | - | 40 | 45 | +| plate-slide-back (M) | - | - | 100 | 58 | +| plate-slide-side (M) | - | - | 100 | 100 | +| plate-slide (M) | - | - | 100 | 77 | +| push-back (E) | - | - | 0 | 71 | +| push (E) | 100 | 59 | 100 | 47 | +| push-wall (M) | - | - | 100 | 47 | +| reach (E) | 100 | 91 | 100 | 98 | +| reach-wall (E) | - | - | 100 | 98 | +| shelf-place (H) | - | - | 0 | 0 | +| soccer (E) | - | - | 0 | 48 | +| stick-pull (H) | - | - | 0 | 79 | +| stick-push (H) | - | - | 0 | 100 | +| sweep-into (E) | - | - | 100 | 80 | +| sweep (E) | - | - | 100 | 74 | +| window-close (H) | 100 | 100 | 100 | 100 | +| window-open (H) | 100 | 99 | 100 | 93 | +| **Average success rate** | 80.0 | 73.9 | 60.0 | 59.7 |