62 lines
2.2 KiB
Markdown
62 lines
2.2 KiB
Markdown
# Brittle Star
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> What is the impact of different levels of controller-modularity on the learning-speed, coordination and tolerance for
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defects (e.g. amputations) in brittle-star-like robots trained with Reinforcement Learning?
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## Quick start
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### Local setup
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To set up the UV module, you can run the following command:
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```bash
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uv sync --frozen
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```
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## Repository Structure
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```text
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.
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├── configs/ # Hydra configuration files (YAML)
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├── docs/ # Comprehensive documentation and API guides
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├── runs/ # Default output directory for Hydra and training artifacts
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├── scripts/ # High-level entrypoints for training, simulation, and evaluation
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├── src/
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│ ├── brittle_star_project/ # Core library and environment logic
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│ │ ├── evaluation/ # Checkpoint evaluation, rollout logic, and metrics persistence
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│ │ └── trainers/ # Training loop implementations (e.g., PPO)
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│ └── experiment_logger/ # Standalone logging package
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└── tests/ # Unit and integration tests
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```
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## Usage
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For detailed instructions on how to use the project, please refer to the **[API Documentation](docs/README.md)**.
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### Quick Start
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1. **Train a model:**
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```bash
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uv run python scripts/train.py ppo.learning_rate=0.001 logging.track=true
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```
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2. **Monitor progress:**
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See [Tracking & Monitoring](docs/api/tracking.md).
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3. **Simulate a trained model:**
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See [Simulation & Evaluation](docs/api/simulation.md).
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4. **Compare fault tolerance of models:**
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See [Checkpoint & Model Evaluation](docs/api/evaluation.md)
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## Results & Reproduction
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See **[docs/api/reproduction.md](docs/api/reproduction.md)** to learn how to access our public [Weights & Biases (WandB) project](https://wandb.ai/SEL3-2026-Groep-4/final-models-v2?nw=96mloffsyq), retrieve specific run parameters, and run the training/evaluation reproduction workflow.
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## HPC
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See **[docs/HPC.md](docs/HPC.md)** for the full guide, including environment setup, cluster selection, interactive debugging, and job submission.
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## Documentation
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Please find all documentation and a starting point for more information in [corresponding README](./docs/README.md).
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