Uses Reinforcement Learning to demonstrate the best tennis serve strategy
| Before Training | After Training |
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Goals of the project:
- Create a tennis racket with appropiate joints in different degrees of freedom using MuJoCo physics engine.
- Train the agent to perform a tennis serve using Reinforcement Learning algorithms. The main reward funciton is the speed of the "racket head".
Future improvements:
- Perform Imitation Learning from expert demonstration using Adversarial Motion Priors(AMP) (https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/blob/main/docs/rl_examples.md)
- Train the agent to perform a tennis serve with an added tennis ball in the environment using Residual Reinforcement Learning based on the policy learned from the AMP algorithm.
- Train the agent to toss the ball with stability as the main reward funciton and height as the secondary reward.
- Hit the ball at the desired height with the speed of the ball after the serve as the main reward function.
- Create a virtual tennis court environment in MuJoCo physics engine, and train the Humanoid agent to perform a fast tennis serve while keeping the ball within the service area after perfoming a serve.
- IsaacGym
- Optional: IsaacGymEnvs
- Cuda >= 11.4
- PyTorch >= 1.12.0
- StableBaseline3
- See IsaacGym for more installation and dependencies info.
- Set up the anaconda environment.
conda activate rlgpu
export LD_LIBRARY_PATH=/home/xyz/anaconda3/envs/rlgpu/lib
- Run the trainning file.
cd gym-tennis
python learning.py
See included "index.html" for more troubleshooting tips.
The following code is added to "nv_humanoid.xml" to create the tennis racket.
<joint name="right_wrist" axis="-1 -1 -1" range="-90 90" class="big_joint"/>
<joint name="right_wrist_2" axis="0 -1 1" range="-30 90" class="small_joint" pos=".18 -.18 -.18"/>
<geom name="right_hand" fromto="0 0 0 .17 .17 .17" size=".031"/>
<site name="right_hand" class="touch" type="sphere" size=".041"/>
<body name="racket" pos=".16 .20 .16">
<geom name="racket" type="cylinder" fromto="0 0 0 .027 -.054 .027" size="0.15"/>
<site name="racket" class="touch" type="cylinder" size="0.041"/>
Two joints are created to simulate wrist movement.