Software & Data Downloads — CME

Circular Maze Environment for a challenging environment for learning manipulation and control.

In this package, we provide python code for a circular maze environment (CME) which Is a challenging environment for learning manipulation and control. The goal in this system is to tip and tilt the CME so as to drive one (or more) marble(s) from the outermost to the innermost ring. While this system is very intuitive and easy for humans to solve, it can be very difficult and inefficient for standard reinforcement learning algorithms to learn meaningful policies. Consequently, we provide codes to this environment so that it can be used as a benchmark for different algorithms that can learn meaningful policies in this environment. We also provide codes for iLQR which can be used to control the motion of marbles in the proposed environment.

    •  van Baar, J., Sullivan, A., Corcodel, R., Jha, D.K., Romeres, D., Nikovski, D.N., "Sim-to-Real Transfer Learning using Robustified Controllers in Robotic Tasks involving Complex Dynamics", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA.2019.8793561, May 2019, pp. 6001-6007.
      BibTeX TR2018-202 PDF Video Software
      • @inproceedings{vanBaar2019may,
      • author = {{van Baar}, Jeroen and Sullivan, Alan and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego and Nikovski, Daniel N.},
      • title = {{Sim-to-Real Transfer Learning using Robustified Controllers in Robotic Tasks involving Complex Dynamics}},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2019,
      • pages = {6001--6007},
      • month = may,
      • doi = {10.1109/ICRA.2019.8793561},
      • url = {https://www.merl.com/publications/TR2018-202}
      • }
    •  Romeres, D., Jha, D.K., Dalla Libera, A., Yerazunis, W.S., Nikovski, D.N., "Semiparametrical Gaussian Processes Learning of Forward Dynamical Models for Navigating in a Circular Maze", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA.2019.8794229, May 2019, pp. 3195-3202.
      BibTeX TR2019-028 PDF Video Software
      • @inproceedings{Romeres2019may,
      • author = {Romeres, Diego and Jha, Devesh K. and Dalla Libera, Alberto and Yerazunis, William S. and Nikovski, Daniel N.},
      • title = {{Semiparametrical Gaussian Processes Learning of Forward Dynamical Models for Navigating in a Circular Maze}},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2019,
      • pages = {3195--3202},
      • month = may,
      • publisher = {IEEE},
      • doi = {10.1109/ICRA.2019.8794229},
      • issn = {2577-087X},
      • isbn = {978-1-5386-6027-0},
      • url = {https://www.merl.com/publications/TR2019-028}
      • }
    •  Ota, K., Jha, D.K., Romeres, D., van Baar, J., Smith, K., Semistsu, T., Oiki, T., Sullivan, A., Nikovski, D.N., Tenenbaum, J.B., "Data-Efficient Learning for Complex and Real-Time Physical Problem Solving using Augmented Simulation", IEEE Robotics and Automation Letters, DOI: 10.1109/​LRA.2021.3068887, Vol. 6, No. 2, March 2021.
      BibTeX TR2021-032 PDF Video Software
      • @article{Ota2021mar,
      • author = {Ota, Kei and Jha, Devesh K. and Romeres, Diego and {van Baar}, Jeroen and Smith, Kevin and Semistsu, Takayuki and Oiki, Tomoaki and Sullivan, Alan and Nikovski, Daniel N. and Tenenbaum, Joshua B.},
      • title = {{Data-Efficient Learning for Complex and Real-Time Physical Problem Solving using Augmented Simulation}},
      • journal = {IEEE Robotics and Automation Letters},
      • year = 2021,
      • volume = 6,
      • number = 2,
      • month = mar,
      • doi = {10.1109/LRA.2021.3068887},
      • url = {https://www.merl.com/publications/TR2021-032}
      • }

    Access software at https://github.com/merlresearch/CME.