[{"_1":2,"_161":-5,"_162":-5},"loaderData",{"_3":4,"_17":18,"_25":26,"_140":141},"root",{"_5":-5,"_6":-7,"_7":8,"_9":-7,"_10":11,"_12":-7,"_13":14,"_15":16},"currentUser","primaryEmail","siteVerification","6LeIxAcTAAAAAJcZVRqyHh71UMIEGNQ_MXjiZKhI","toast","enableDev",false,"incidentStatus","theme","system","contrast","normal","routes/_layout",{"_19":-5,"_20":21,"_22":21,"_23":11,"_24":21},"username","isAskGordonEnabled",true,"isUsingNewTemplate","showMinimalLanding","showHoneypotTrap","routes/_layout.r.$namespace.$reponame",{"_27":28,"_29":-5,"_30":11,"_31":11,"_32":33,"_34":35,"_36":-5,"_37":11,"_38":39,"_88":-5,"_89":90,"_129":-5,"_130":11,"_131":21,"_132":11,"_133":-5,"_134":11,"_135":-5,"_136":137,"_138":91,"_139":-7},"canonicalUrl","https://hub.docker.com/r/peasant98/shiro/tags","mcpServer","canSeeDockerfile","canSeeAutobuilds","namespace","peasant98","reponame","shiro","cloudBuildSource","isAutobuildsAvailable","repo",{"_40":41,"_42":43,"_45":46,"_47":48,"_49":11,"_50":51,"_52":53,"_54":55,"_57":35,"_32":33,"_58":59,"_60":44,"_61":62,"_63":64,"_65":66,"_67":-5,"_68":62,"_69":70,"_71":11,"_72":33,"_73":74,"_79":11,"_80":81,"_85":33,"_86":87},"categories",[],"content_types",[44],"image","date_registered","2021-04-10T04:52:37.463543Z","description","Docker image for SHIRO, a state-of-the-art hierarchical reinforcement learning algorithm.","is_private","last_updated","2021-05-24T13:58:10.842452Z","last_modified","2024-10-16T13:48:34.145251Z","media_types",[56],"application/vnd.docker.container.image.v1+json","name","pull_count",415,"repository_type","star_count",0,"status",1,"status_description","active","source","collaborator_count","full_description","# shiro-corl-2021\nCode associated with \"Soft Hierarchical Reinforcement Learning for Robotics\", a work to be submitted to CoRL 2021.\n\n## Envs\n\n### The Panda Environment\n\n![](imgs/panda_env.png)\n\n### The Minitaur Environment\n\n![](imgs/minitaur_env.png)\n\n## Docker\n\nTo install Docker with GPU support, do the following:\n\n```sh\ncurl https://get.docker.com | sh \\\n && sudo systemctl --now enable docker\n\n\n# IMPORTANT: if you want to run docker as non-root, do the following:\nsudo usermod -aG docker \n\nsudo apt-get update\n\nsudo apt-get install -y nvidia-docker2\n\nsudo systemctl restart docker\n\n# testing gpu\nsudo docker run --rm --gpus all nvidia/cuda:11.0-base nvidia-smi\n\n```\n\n### Docker Build\n\nThe standard docker run is:\n\n```sh\ndocker build . -t \n\ndocker run --rm --gpus all -v :/shiro-corl-2021 -t -i --user \"$(id -u)\" bash /shiro-corl-2021/run_container.sh\n\n```\n\nAn example (this is what I used) is:\n\n```sh\ndocker build . -t myimg\n\ndocker run --rm --gpus all -v /home/peasant98/Desktop/Robotics/ \nshiro-corl-2021:/shiro-corl-2021 -t -i --user \"$(id -u)\" myimg bash /shiro-corl-2021/run_container.sh\n\n```\n\n### Using the Docker Hub\n\nCheck out the Docker Hub link [here](https://hub.docker.com/r/peasant98/shiro)!\n\n```sh\n\ndocker pull peasant98/shiro:latest\ndocker run --rm --gpus all -v :/shiro-corl-2021 -t -i --user \"$(id -u)\" peasant98/shiro:latest bash /shiro-corl-2021/run_container.sh\n\n```\n\n### Running with Singularity on the Supercomputer\nTo run with singularity (which can be done on the CU Boulder supercomputer):\n\n```sh\nssh scompile\nml singularity/3.6.4\n\n# IMPORTANT: make sure to clone this repo from your /projects/ directory, and do the following command from in that repo:\n\n# pull the docker image from the docker hub:\nsingularity build shiro.simg docker://peasant98/shiro:latest\n```\n\nThen, if you want to run a job on the supercomputer, specify that you want to run a job on the **GPU** cluster, and have\n\n```sh\nsingularity exec --nv --bind /home/peasant98/Desktop/Robotics/shiro-corl-2021:/shiro-corl-2021 shiro.simg bash /shiro-corl-2021/run_container_supercomputer.sh\n```\n\nor, for **CPU** clusters, have\n\n```sh\nsingularity exec --bind /home/peasant98/Desktop/Robotics/shiro-corl-2021:/shiro-corl-2021 shiro.simg bash /shiro-corl-2021/run_container_supercomputer.sh\n```\n\nsomewhere in your script. Checkout `sample_supercomputer_job.sh` for an example. Note that you should have your files and run the script from the `/projects/` directory.\n\n## Installation without Docker (harder and more time consuming)\n\nThere are two environments that you'll need to install: the Franka Panda robot\nenvironment and the Minitaur environment. To do so, follow the below steps:\nFirst, install [git-lfs](https://git-lfs.github.com/).\n\n```sh\n# installs the franka panda env\ngit clone https://github.com/robotology-playground/pybullet-robot-envs.git\ncd pybullet-robot-envs\n\npip3 install -r requirements.txt\npip3 install -e .\n```\n\nTo install the Minitaur env:\n\n```sh\ngit clone https://github.com/bulletphysics/bullet3\ncd bullet3\npip3 install .\n```\n\nTo install the RL algorithms, clone our *forked* version of PFRL\n[here](https://github.com/watakandai/pfrl). The steps to install are:\n\n```sh\ngit clone https://github.com/watakandai/pfrl\ncd pfrl\npip install .\n\n```\n\nThen, to install this package (`shiro`):\n\n```sh\ncd shiro-corl-2021\npip3 install .\n```\n\n## Supercomputer Installation without Docker (hardest)\n\nCompared to the traditional installation, the supercomputer installation\nis significantly more involved. So, we have created an install script that should help you get up and running.\n\n*Note*: Everything in simulation can only run headlessly. Also, if any issues\ncome up with the installation, please let me know! I might've gotten lucky in some areas.\n\n1. Get an account on the CU Supercomputer System; you can\nget it [here](https://curc.readthedocs.io/en/latest/access/logging-in.html).\n\n2. You can ssh into your account as follows:\n\n```sh\nssh @login.rc.colorado.edu\n```\n\nThen, you'll need to finish the 2-factor authentication process.\n\n3. `cd` into your `projects` directory; that is, do:\n\n```sh\ncd /projects/\n```\n\n4. To clone and run:\n\n```sh\ngit clone https://github.com/peasant98/shiro-corl-2021\n./install.sh --identikey \n\n```\n\n5. To run an example to ensure everything is working, end-to-end:\n\n```sh\npython3 shiro-corl-2021/shiro/examples/panda/train_panda_hiro.py\n```\n\n## Running Experiments\n\nTraining the Franka Panda:\n```sh\npython3 shiro-corl-2021/shiro/examples/panda/train_panda_hiro.py\n```\n\nTraining the Minitaur:\n\nTBD\n\n## Contributing\n\nPull Requests are always welcome!\n","has_starred","hub_user","immutable_tags_settings",{"_75":11,"_76":77},"enabled","rules",[78],".*","is_automated","permissions",{"_82":21,"_83":11,"_84":11},"read","write","admin","user","storage_size",54485066797,"orgData","recentTags",[91],{"_92":44,"_93":94,"_95":96,"_97":98,"_99":100,"_50":118,"_119":94,"_120":33,"_121":56,"_57":122,"_123":124,"_125":109,"_126":118,"_127":66,"_128":21},"content_type","creator",8818482,"full_size",2259855000,"id",145058063,"images",[101],{"_102":103,"_104":105,"_106":107,"_108":109,"_110":111,"_112":113,"_114":107,"_115":-5,"_116":96,"_63":66,"_117":-5},"architecture","amd64","digest","sha256:2941f09811c478af6d0d7d22aada4ea5c7640a9acd5ac94d1b9d1a210391c741","features","","last_pulled","2026-09-22T19:41:28.682194329Z","last_pushed","2021-05-24T13:58:11Z","os","linux","os_features","os_version","size","variant","2021-05-24T13:58:10.435294Z","last_updater","last_updater_username","media_type","latest","repository",12243983,"tag_last_pulled","tag_last_pushed","tag_status","v2","sbxKitMetadata","isPotentialSpam","isHubSbxKitsEnabled","showSbxLogoOverride","sbxTrademarkText","displaySecurityMetadata","tagAttestations","tagsHaveAttestations",[],"selectedTag","attestationsUrl","routes/_layout.r.$namespace.$reponame.tags",{"_38":142,"_149":150,"_136":159,"_160":11},{"_40":143,"_42":144,"_45":46,"_47":48,"_49":11,"_50":51,"_52":53,"_54":145,"_57":35,"_32":33,"_58":59,"_60":44,"_61":62,"_63":64,"_65":66,"_67":-5,"_68":62,"_69":70,"_71":11,"_72":33,"_73":146,"_79":11,"_80":148,"_85":33,"_86":87},[],[44],[56],{"_75":11,"_76":147},[78],{"_82":21,"_83":11,"_84":11},"tags",{"_151":64,"_152":-5,"_153":-5,"_154":155},"count","next","previous","results",[156],{"_92":44,"_93":94,"_95":96,"_97":98,"_99":157,"_50":118,"_119":94,"_120":33,"_121":56,"_57":122,"_123":124,"_125":109,"_126":118,"_127":66,"_128":21},[158],{"_102":103,"_104":105,"_106":107,"_108":109,"_110":111,"_112":113,"_114":107,"_115":-5,"_116":96,"_63":66,"_117":-5},[],"canDeleteTags","actionData","errors"]

peasant98/shiro

Tags for peasant98/shiro