This code accompanies the paper "Inverse reinforcement learning for dexterous hand manipulation" to enable reproduction of the presented results.
- Install mujoco libraries: https://www.roboti.us/index.html
sudo apt install libglew-dev patchelf libosmesa6-dev
Add to .zshrc:
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/<user>/.mujoco/mujoco200/bin
export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so
Need to install gcc for mujoco-py 2.0:
brew install gcc
pip3 install -e . && pip3 install -e git+https://github.com/Jendker/mj_envs.git#egg=mj_envs
Training can be started with:
cd inverse_rl_dexterous_hand/training
python training.py --configs IRL
Please see the 'inverse_rl_dexterous_hand/training/README.md' for the detailed commands for results reproduction.