# Conservative Unsupervised Data Sharing

Code to reproduce the experiments in CUDS.


## Installation
1. Install [MuJoCo 1.50](https://www.roboti.us/index.html) at `~/.mujoco/mjpro150` and copy your license key to `~/.mujoco/mjkey.txt`
2. Create a conda environment and install cuds
```
cd cuds
conda env create -f environment/gpu-env.yml
conda activate cuds
pip install -e .
cd ../metaworld
pip install -e .
cd ../d4rl
pip install -e .
```
3. Download data from https://drive.google.com/file/d/17xHVcaxKF4imqP5c0R2BGWIsNCDjP4em/view?usp=sharing and put in `data/`

## Usage
Configuration files can be found in `examples/config/`. 

```
cuds run_local examples.development --config=examples.config.multitask_door_drawer.off_policy_multitask --gpus=1 --trial-gpus=1
```

Currently only running locally is supported.