Adaptive-Soft-Actor-Critic

Jae In Kim, Mineui Hong, Kyungjae Lee, DongWook Kim, Yong-Lae Park, and Songhwai Oh, "Learning to Walk A Tripod Mobile Robot Using Nonlinear Soft Vibration Actuators with Entropy Adaptive Reinforcement Learning," IEEE International Conference on Robotics and Automation (ICRA), May 2020. (RA-L option)

Installaction

Prerequisite

sudo apt-get update && sudo apt-get install libopenmpi-dev

Virtual Environment (Reconmmend)

virtualenv venv --python=python3.5 (--system-site-packages)

If your machine already has tensorflow-gpu package, I reconmmend the option --system-site-packages to use tensorflow-gpu.

Install MuJoCo (Recommend)

pip install gym[mujoco,robotics]

Install Spinningup with Adaptive Soft Actor Critic

cd adaptive_soft_actor_critic
pip install -e .

Install Custom Gym

cd adaptive_soft_actor_critic/custom_gym/
pip install -e .

If you want to add a customized environment, see https://github.com/openai/gym/tree/master/gym/envs#how-to-create-new-environments-for-gym

Reproducing experiments

Run test

cd adaptive_soft_actor_critic
python -m spinup.run asac --env HalfCheetah-v2

Run single experiment

cd adaptive_soft_actor_critic
python -m spinup.run asac --env HalfCheetah-v2 --exp_name half_asac --seed 0 10 20 30 40 50 60 70 80 90

Results will be saved in data folder