EmblaV1

Extending DreamerV3 for robotic application and better Morphology awareness by implementing a FFKSM

Projectplan

miroboard

Usage

• install requirements (note that you need torch with cuda)
• replace pusher_v5.xml in the gymnasium lib folder (yourPythonVenv/gymnasium/envs/mujoco/assets) with the file in this repo! (necessary for the colourfilter)
• run main.py to start
• modify config to change all relevant Dreamer and FFKSM parameters

Current state

Core architecture done! Needs benchmark. Maybe implement SM student model

Acknowledgements

• NaturalDreamer Helped me to understand the DreamerV3 Architecture. Used the Code as a base.
• SelfModel Original Selfmodel-code, which I modified and fused with the DreamerV3 Architecture.