Jeffery

• Discussed dataset approach with Zisen

• BHuman dataset: select 2-3 most important images per second for training

Zisen

• Confirmed BHuman logic working in wistex system

• Referee thread: BHuman loads move net and heuristic logic

• Questions raised:

  • Entry point for running onnx?

    • Yuhao’s suggestion: Trace BHuman code for onnx usage

  • Number of trajectories needed for IL algorithm?

    • Yuhao’s response: As many as possible

• Note: Referee thread needs to infer onnx after whistle

Yuhao

• Performance issues with py-log-reader

  • Parsed first data batch (1.39GB) in 8 hours

• BHuman2024 merge failed due to skill implementation changes:

  • Skills changed from separate classes to CABSL options under SkillBehaviorControl

  • Uses reflection mechanism for data storage

• Zhihan’s question: Location of reflection data storage?

  • Yuhao’s response: Possibly in SkillBehaviorControl or blackboard (uncertain)

• Will share skill change details in Slack

Edisen Shen

• Investigating Walkengine

• Features walk phases with interpolated step position and velocity

• Adam’s question: Control of desired angle at each time step?

  • Response: Yes, takes speed request, sends desired angle

Adam

• Received assistance from mechanical engineering team

• Progress with mujoco:

  • Nearly achieved good standing behavior

  • Planning to use Deepmind soccer env for training

Zhihan

• Discussed log usage with Yuhao

• Haven’t implemented py-log-reader infrastructure

• Working with Siddhant on UT-Austin undergrad recruitment

• Focus on data collection and 2024 codebase transfer

• William’s question: Status of abstractSim policy deployment

  • Response: Main challenge is action gap between simRobot and real robot

  • Working on neural network solution to bridge walk engine dynamics

Siddhant

• Working on policy patching

• Removing game controller

• Peter’s question: Whether to remove GameController or modify for constant playing state

  • Response: Will evaluate easiest modification approach

Abhinav

• Working on abstractSim v2

  • Improved user understanding

  • Collaborating with Zhihan on SimRobot to abstractSim V2 migration

Parv

• Examining goalkeeper code simulation

• Studying RL implementation for goalkeeper scenarios

Zhihan

• BHuman Fast showing unusual behavior

  • Robot reported as broken

  • Adam: Confirmed similar previous observations