Simply run the following commands to create a new conda environment.

conda create -n dex python=3.8
conda activate dex
conda install pytorch==1.11.0 torchvision==0.12.0 torchaudio==0.11.0 cudatoolkit=11.3 -c pytorch
pip install opencv-python matplotlib scikit-image pandas natsort ipdb yacs wandb gpustat hydra-core==1.1.0
pip install Cython==0.29.35

2 Install MuJoCo

To install mujoco, you need to first download the file from this link and tar -xvf the_file_name in the ~/.mujoco folder. Then, install the python packages:

pip install mujoco-py

After that, add the following lines to your ~/.bashrc file:

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/YOUR_PATH_TO_THIS/.mujoco/mujoco210/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia

Remember to source ~/.bashrc to make the changes take effect.

3 Install Some Modified Packages and Baselines

We modified some packages to make them compatible with our code. You can install them by running the following commands:

cd stage3_RL
pip install -e. 
cd mjrl
pip install -e. 
cd ..
cd mj_envs
pip install -e.
cd ../..
cd third_party/dexmv-sim/
pip install -e .
cd ../..

In order to let other researchers better study this direction, we not only open source our algorithm, but also all the baselines we use.

# R3M
cd third_party/r3m
pip install -e .
cd ..
# MVP
cd mvp
pip install -e .
cd ..
# VC-1
cd eai-vc/vc_models
pip install -e .
cd ../../..

To use these baseline methods, you may need to also download their checkpoints:

• VC-1 (baseline): download checkpoint and put it under archive/.
• R3M (baseline): download model url and config url, and put them under archive/r3m_ckpt/.
• MVP (baseline): download checkpoint and put it under archive/

Finally, you can try to run visual RL experiments using our scripts. If you have any questions, please feel free to post an issue in Github or contact us via email.

Error Catching

1. pip no response: pip config set global.index-url https://pypi.tuna.tsinghua.edu.cn/simple
2. fatal error: GL/osmesa.h: No such file or directory: sudo apt-get install libosmesa6-dev
3. FileNotFoundError: [Error 2] No such file or directory: 'patchelf': sudo apt-get install patchelf
4. ImportError: libpython3.7m.so.1.0: cannot open shared object file: No such file or directory:
   • first solution: sudo apt-get install libpython3.7
   • second solution: export LD_LIBRARY_PATH=/home/yanjieze/miniconda3/envs/mvp/lib
5. error when compiling mujoco:

Error compiling Cython file:
------------------------------------------------------------
...
    See c_warning_callback, which is the C wrapper to the user defined function
    '''
    global py_error_callback
    global mju_user_error
    py_error_callback = err_callback
    mju_user_error = c_error_callback
                     ^
------------------------------------------------------------

solution:

pip install Cython==0.29.35