Table of contents
  1. Simulation and Environment
    1. Adam
    2. Zhihan
    3. Dimitry
    4. Version Integration Discussion
    5. Will
  2. Referee Gesture
    1. Zisen
  3. Environment Issues
    1. Yuhao
  4. Framework Discussion

Simulation and Environment

Adam

  • Exploring Mujoco
  • Josiah suggest Webot simulation as a way to consider

Zhihan

  • Successfully transferred V2 to NAO robot
  • Ensuring coordination parameters match between simrobot and abstract
  • Not yet integrated with Abhinav’s version; plans to merge changes later
  • Adding tutorial documentation
  • Plan to implement new features:
    • Kick skill implementation in V2
    • Medium-level skills (e.g., walk to point)

Dimitry

  • Facing issue with GUI, yuhao suggest wsl2 version

Version Integration Discussion

  • Multi-agent training switch to V2
  • Zhihan’s version is focus on transferring and training
  • Abhinav’s version focusing on reconfiguration
  • Plan to move changes to Abhinav’s branch
  • Current issues:
    • V2 exhibits unusual behavior with angled kicks
    • Strategy: Transfer to Zhihan’s branch first (similar to V1)
  • Goal: Achieve stable status combining both versions

Will

  • Working on multi-agent reinforcement learning
  • Plans to transfer work to V2 in future phases

Referee Gesture

Zisen

  • In paper sent by Peter, MobileNet-V2 proven viable on NAO hardware
  • Still need for improved efficiency due to concurrent vision pipeline processing
  • Insight from paper, number of filters impacts inference time more than layer count
  • Tried vanilla GAN for new domain data augmentation
  • Josiah suggest also try diffusion for data augmentation

Environment Issues

Yuhao

  • Fixed environment bugs, but shared memory has its natural issues
  • GNU-related challenges
  • Multiple robot simulation causing problems in SimRobot
  • BCO implementation pending after merge training
  • Josiah suggests focus on single-agent behavior cloning before scaling to multi-agent

Framework Discussion

  • RLite: Complex implementation, documentation has latency from code
  • Tianshou:
    • Undergoing refactoring
    • Lightweight design
    • Better performance
  • CleanRL: Preferred for research purposes