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Pepper Social Scenarios

The pepper social scenarios is implemented using ml-agents. It is still under development. This repo is provided for the Paper Social Behavior Learning with Realistic Reward Shaping. Please do not hasitate to contact me if there are issues, you can let me know by posting them in the issues section.

Tested Unity version: 2018.1.0b13 (beta) Tested Unity ML-Agents version: 0.3.1b

Environments

Pepper robot approaches people: This environment trains pepper robot to approach a group from different angles.

Visualization of personal, social and public spaces of different agents and a sample of image-based observation

Base Behaviour(Without considering social norms)

Learned Behaviour

Approaching from the left and right side by taking care of personal, social and public space (red circles represent the personal spaces of the agents). Learned policy can enable robot to approach from any point in the space.:

Project Prerequisite

  • The TensorflowSharp plugins folder was omitted from this project due to the massive file sizes. You will need to import this set of Unity plugins yourself. You can download the TensorFlowSharp plugin as a Unity package here.

  • We strongly recommend users to get familiar with Unity ML-agent.

  • We recommend using a python virtual environment to manage Python dependencies. For this we recommend using Anaconda, a powerful virtual environment and package management tool.

  • The Unity game engine is required. Linux installation download link

  • (Optional) Vision module can be found here.

Getting Started

Creating a virtual Python environment using Anaconda

  1. Inside of ml-agents/python/ directory run conda create -n myenv python=3.6.
  2. Activate the virtual environment by running source activate myenv
  3. Install requirements from requirements.txt by running pip install -r requirements.txt

Known Problems of this section.

  • If you lack grpc dependences after installing using requirements.txt, please install the dependence using pip install grpcio.

Building pepper social environment

Build prerequisites:

  • Set scripting runtime version to .NET 4.x Equivalent inside File-> Build Setting-> PlayerSettings -> Other Settings -> Scripting Runtime Version.
  • Set ENABLE_TENSORFLOW inside File-> Build Setting-> PlayerSettings -> Other Settings -> Scripting Define Symbols.
  • Make sure that the relevant Brains are set to external in the inspector.

Open PepperSocial scene File

  1. Use Unity Editor to open the project folder. Then use Ctrl+o to open scene file by following the path PepperSocial/Assets/Scenarios/PepperSocial/PepperSocial.unity.

Create a build inside of Unity Headleslly for Linux

  1. Go to File -> Build Settings.
  2. Tick Headless mode box.
  3. Set Target platform to Linux (x86_64 build). This will create two files:

<environmentName>_Data/ and <environmentName>.x86_64

We strongly recomend to move these files inside an environments/ directory inside of the ml-agents python/ directory. Such that we get:

python/environments/<environmentName>_Data/ and python/environments/<environmentName>.x86_64

Running training from Python

Inside of the ml-agents/python/ directory, run the command:
python learn.py environments/<environmentName>.x86_64 --train

Follow Us

Yuan Gao

Martin Frisk

  • Twitter:

Branches Related to Implementation

We use branches to keep the experiments clean: The following table shows configerations and their corresponding branches.

Configeratures Branch
Vector + LSTM (Baseline) [Link]
CameraOnly + SAEV + FF [Link]
CameraOnly + SAEV + LSTM [Link]
CameraOnly + conv + FF [Link]
CameraOnly + conv + LSTM [Link]
CameraSpeed + SAEV + FF [Link]
CameraSpeed + SAEV + LSTM [Link]