tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
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Modularity & Topology
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Experiment Logger
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Tracking & Monitoring
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Checkpoint & Model Evaluation
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Interactive Simulation & Visualization
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Results & Reproduction
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Development Guide
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<ul>
<li><strong><a href="DEVELOPMENT/">Installation Instructions</a></strong>: Steps to set up your development environment locally or in a devcontainer using <code>uv</code>, including GPU configuration. For High-Performance Computing (HPC) setup details, see the <strong><a href="HPC/">HPC Guide</a></strong>.</li>
<li><strong><a href="api/training/">How to Run Experiments</a></strong>: A complete guide on running training jobs, setting custom hyperparameters, and overriding config options using Hydra.</li>
<li><strong><a href="api/training/#reproducing-experiments">Reproducing Experiments</a></strong>: Best practices for reproducing past training runs using exact seeds, dependencies, and automatic metadata logging.</li>
<li><strong><a href="api/reproduction/">Results &amp; Reproduction</a></strong>: Guide on how to access our public WandB training runs table and reproduce our training and evaluation phases (determining the best checkpoint vs. comparing architectures).</li>
<li><strong><a href="CONTRIBUTING/">Contribution Guidelines</a></strong>: Standards, rules, and best practices for developing and adding code to the repository.</li>
<li><strong><a href="#repository-structure">Repository Structure</a></strong>: Overview of the directories and files within the codebase.</li>
</ul>
<h2 id="repository-structure">Repository Structure</h2>
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<h2 id="design-architecture-design">Design &amp; architecture (<code>/design</code>)</h2>
<p>If you are interested in the "why did you do it like this?"</p>
<ul>
<li><a href="design/actor-critic/">Actor/critic architecture</a>: Description of the actor-critic pipeline.</li>
<li><a href="design/communication/">Communication</a>: Message propagation, Nerve-Net style.</li>
<li><a href="design/controllers/">Controllers</a>: Macroscopig brain toplogy, centralized, arm-level, segment-level.</li>
<li><a href="design/input_action_spaces/">Input/output</a>: Description of the model's input and output.</li>
<li><a href="design/learning_algorithm/">Learning algorithm</a>: RL techniques, i.e. PPO.</li>
<li><a href="design/reward_function/">Reward function</a>: Goals, fitness tracking, and reward structures.</li>
<li><a href="design/actor-critic/">Actor-Critic Architecture</a>: Description of the actor-critic pipeline.</li>
<li><a href="design/communication/">Communication Scheme</a>: Message propagation, Nerve-Net style.</li>
<li><a href="design/controllers/">Modularity &amp; Topology</a>: Macroscopic brain topology, centralized, arm-level, segment-level.</li>
<li><a href="design/input_action_spaces/">Input &amp; Action Spaces</a>: Description of the model's input and output.</li>
<li><a href="design/learning_algorithm/">Reinforcement Learning Algorithm</a>: RL techniques, i.e. PPO.</li>
<li><a href="design/reward_function/">Reward Function &amp; Observation Space</a>: Goals, fitness tracking, and reward structures.</li>
</ul>
<h2 id="api-reference-api">API reference (<code>/api</code>)</h2>
<p>If you are interested in the "how do I use it?"</p>
<ul>
<li><a href="api/training/">Training</a>: How to configure and run experiments.</li>
<li><a href="api/environment/">Brittle Star Environment</a>: MuJoCo environment interaction and configuration.</li>
<li><a href="api/training/">Training Models</a>: How to configure and run experiments.</li>
<li><a href="api/tracking/">Tracking &amp; Monitoring</a>: Setting up WandB and TensorBoard to monitor runs.</li>
<li><a href="api/simulation/">Simulation</a>: Visualizing and evaluating models.</li>
<li><a href="api/environment/">Environment</a>: MuJoCo environment interaction and configuration.</li>
<li><a href="api/analysis/">Analysis</a>: Comparing checkpoints and generating plots.</li>
<li><a href="api/evaluation/">Evaluation</a>: Evaluating checkpoints and comparing fault tolerance.</li>
<li><a href="api/evaluation/">Checkpoint &amp; Model Evaluation</a>: Evaluating checkpoints and comparing fault tolerance.</li>
<li><a href="api/simulation/">Interactive Simulation &amp; Visualization</a>: Visualizing models in the MuJoCo viewer or rendering simulation videos.</li>
<li><a href="api/analysis/">Analysis &amp; Plotting Tools</a>: Comparing checkpoints and generating plots.</li>
<li><a href="api/reproduction/">Results &amp; Reproduction</a>: Accessing WandB results and running reproduction pipelines.</li>
</ul>