Learning Morphology and Control for a Microrobot

This repository contains files neccessary to replicate the Docker image used to run experiments for the paper "Learning Morphology and Control for a Microrobot". More information can be found on our website here.

Building the docker image

Before building the docker image, ensure that docker is installed. The following steps are neccessary to build the docker image.

docker build --no-cache -t learning-robot-morph .

This dockerfile has been tested on Ubuntu 18.04.

Running the docker image

Run

docker run -it --rm learning-robot-morph

If you modify main.sh, you can rebuild from just the runtime stage

docker build --target runtime -t learning-robot-morph .

Citation

Should you find this code useful, please support us by citing our paper:

T. Liao, G. Wang, B. Yang, R. Lee, S. Levine, K. Pister, R. Calandra. 
Data-efficient Learning of Morphology and Controller for a Microrobot.
In IEEE Int. Conf on Robotics and Automatation, ICRA '19, Montreal, Canada, May
2019.