Code for "Specializing Versatile Skill Libraries using Local Mixture of Experts" - published at CoRL 2021, see https://openreview.net/forum?id=j3Rguo81Yi_
You will need Mujoco to run the robotic experiments. Note that Mujoco is free now. However, when the experiments were conducted, Mujoco was not officially open sourced. Therefore, we use the mujoco-py version, which is based on Mujoco 2.0. Using the newest version of mujoco-py should work, but was not tested yet.
This code was tested with Python 3.6. A list of all required packages, including version numbers can be found in requirements.txt and can be installed with
pip install -r requirements.txt
To run the Beerpong experiment, run
python Beer_Pong_Run.py
To run the Table Tennis experiment, run
python Table_Tennis_Run.py