simtk.org

Hello,

I am looking for implementing deep reinforcement learning algorithms on lower limb exoskeleton model developed using OpenSim. Please guide me regarding a feasible deep RL framework which I can integrate with OpenSim for the task.

Regards,
Akhil

This may be of some relevance

https://github.com/stanfordnmbl/osim-rl

hello Dimitar Stanev,

Thank you very much for the reply, I have seen the page and. I am not clear about how keras is communicating with OpenSim. I am a beginner in both Deep RL and OpenSim modelling, Could you enlighten me on this and is it very feasible for any OpenSim models?

Regards,
Akhil

Hi Akhil,

in the current version of osim-rl you can create a RL environment from any OpenSim model.
Here is one example https://github.com/stanfordnmbl/osim-rl ... les/arm.py but in principle you can make it even simpler -- just setting the model_path in the new class should be enough to have OpenAI gym compatibility of your OpenSim model.
Once it's in that form the OpenSim RL environment will have two functions: reset() and set(). In that form, you can already use OpenAI RL baselines https://github.com/openai/baselines or other implementations, ex. https://github.com/rll/rllab or https://github.com/keras-rl/keras-rl
You will find more information in the README of our repo https://github.com/stanfordnmbl/osim-rl

Best,
Lukasz

hello Lukasz,

Thank you very much for the details. I am bit curios to know, if you are performing any kind of pre processing or additional settings on the OpenSim models to use it with osim-rl.

Regards,
Akhil