hyperdyn

This repo contains code for the paper HyperDynamics: Meta-Learning Object and Agent Dynamics with Hypernetworks (ICLR 2021). This repo borrows code structure from learning_to_adapt.

Project site: zhouxian.github.io/hyperdynamics

If you use this code, please cite this paper:

@inproceedings{xian2021hyperdynamics,
  author    = {Zhou Xian and
               Shamit Lal and
               Hsiao{-}Yu Tung and
               Emmanouil Antonios Platanios and
               Katerina Fragkiadaki},
  title     = {HyperDynamics: Meta-Learning Object and Agent Dynamics with Hypernetworks},
  booktitle = {9th International Conference on Learning Representations, {ICLR} 2021,
               Virtual Event, Austria, May 3-7, 2021},
  year      = {2021},
}

Environment

Download and install mujoco (version 131).
Set up conda env and install dependencies:

conda env create -f environment.yml
conda activate hyperdyn
. source_this.sh

Training

Training on the task Cheetah-Slop with tensorboard logging:

# HyperDynamics
python scripts/train_hyperdyn.py --en basic
# MAML baseline
python scripts/train_maml.py --en basic

Tensorboard log files are saved under log/{model}/{en}.