https://packaging.python.org/en/latest/guides/section-install/

Create folder to store virtual environments:

mkdir ~/venv

Create the virtual environment:

python3 -m venv ~/venv/plr

Test the virtual environment

source ~/venv/plr/bin/activate
which python

Add alias to .bashrc or .zshrc to easier source venv.

code ~/.bashrc

# Append the following and save file

alias venv_plr="source ~/venv/plr/bin/activate"

Create a fork of the project on GitHub

cd ~/git
git clone [email protected]:leggedrobotics/plr-exercise.git

Replace leggedrobotics with your username.

Small notice you can clone a repo using ssh or https. I recommend to setup ssh-keys and always use ssh.

Then go to the Github Settings to right:

Activate under General the following Features:

You at first create a fork of the plr-exercise repository under your local GitHub username.
For each task you create a branch called: dev/task_X
You commit all the changes necessary for this task to this branch and push the changes to GitHub.
To finish a task you create a pull request from dev/task_X to main. The title of the pull request is the task description below.
Do not delete the branches after merging the PR.

Task Descriptions:

• Task 0: Run train.py and create an issue and complain about your low test score.
• Task 1: Improve the formatting using black
• Task 2: Create a python package for your project
• Task 3: Add a online logging framework
• Task 4: Use optuna to perform a hyperparameter search
• Task 5: Add docstrings to every file.

You are given the train.py script. Try to run the script:

python3 train.py

The final test result will be printed to the command line:

Test set: Average loss: X.XXXX, Accuracy: XXXX/10000 (XX%)

Create an issue on GitHub complaining about the low test result.

While the file is very simple it has some problems with the formatting and also does not scale to a larger project.

🚀🚀🚀 Let's improve this together! 🚀🚀🚀

Your first task is to install black and format the code. Take a look here: https://github.com/psf/black

pip3 install black
black --line-length 120 ~/git/plr-exercise

Now everything looks pretty.

You have to correctly create a setup.py Then you can install the package as follows:

cd ~/git/plr-exercise
pip3 install -e ./

We would like the repository structure to look as follows:

project_name:
├──results:	
│    ├──YEAR_MONTH_DAY_TIME_experiment_name:
│        ├──results.yml 
│        └──....
│
├──project_name:
│    ├──models:
│    |   ├──cnn.py
│    |   └──__init__.py
│    └──__init__.py   
│        
├──scripts:
│    ├──train.py
│    └──timeing.py 
│
├──setup.py
├──.gitignore
├──README.md

However, we do not want to commit the files within the results folder.
Create a .gitignore file and add all the files within the results to be ignored.

Add wandb logger.

pip3 install wandb

Follow the quickstart guide here: https://docs.wandb.ai/quickstart
Log the training_loss, test_loss, and your code as an artificat.
Create a PR with a screenshot of a run with the loss curve and the uploaded source code artifact.

Use optuna to find the best learning rate and epoch.

pip3 install optuna

This may be a good starting point https://optuna.org/#code_examples

import optuna

def objective(trial):
    x = trial.suggest_float('x', -10, 10)
    return (x - 2) ** 2

study = optuna.create_study()
study.optimize(objective, n_trials=100)

study.best_params  # E.g. {'x': 2.002108042}

Add docstrings to all classes and functions: https://peps.python.org/pep-0257/
Here are some workflows by the RSL that may help you: https://github.com/leggedrobotics/workflows

• Timing - check out the timing.py and try to understand why the times are different
• Typing
• GitHub Actions

You can get bonus points if you improve this version of this README by fixing errors or adding other usefull "tasks" below that you think will help others. This may include:

• Improved Reproducability
• Visualization
• Configuration with Hydra, OmegaConfiguration
• Measuring the time