Installation

To reproduce the training experiments there are two supported ways to set up an environment.

Expected time

The installation usually takes less than 30 minutes on a modern computer with a fast internet connection.

Docker

The provided Dockerfile builds an image that can run all the Arnold experiments. This assumes Docker is installed on your system.

Navigate to the directory containing the Dockerfile (docker-cuda) and build the image:

docker build -t arnold_image .

Once the image is built, run a container:

docker run -it --rm arnold_image /bin/bash

This starts an interactive session inside the container, from which you can execute the training or evaluation scripts.

Conda environment

Alternatively, create a conda environment and install the dependencies manually.

conda create -n arnold python=3.8
conda activate arnold
pip install \
    cloudpickle==1.2.2\
    gym==0.13.0\
    gymnasium==0.29.1\
    h5py==3.7.0\
    wandb\
    tqdm\
    numpy\
    ipdb

pip install stable-baselines3==2.2.1
pip install MyoSuite==2.2.0
pip install imitation==1.0.0
pip install sb3-contrib==2.2.1
pip install Shimmy==1.3.0
pip install imageio

System packages

You may need to install some OpenGL-related system packages:

apt-get update && apt-get install -y libgl1-mesa-glx libosmesa6

Rendering on macOS

Any command that passes --render must be run with mjpython instead of python. This is a MuJoCo requirement on macOS.

Next steps

The code is installed, but the checkpoints and benchmark results are not — continue with Data and checkpoints.