This is the official code of our paper "Diversity-based Trajectory and Goal Selection with Hindsight Experience Relay" (PRICAI 2021)

Last update: Jul 18, 2022

Overview

Diversity-based Trajectory and Goal Selection with Hindsight Experience Replay

This is the official implementation of our paper "Diversity-based Trajectory and Goal Selection with Hindsight Experience Replay" (PRICAI 2021).

Pre-requisites

python==3.6.8
gym==0.12.5
mujoco-py==2.0.2.0
tensorflow==1.13.1

Installation

Install the OpenMPI:

sudo apt-get install openmpi-bin openmpi-doc libopenmpi-dev

Install the required python packages.
Install baseline:

pip install -e .

Usage

Enter to the specific location:

cd ./baselines/her/experiment

The scripts for FetchEnv:

python train.py --env_name FetchPush-v1 --clip_div=0.001 --use_kdpp True --prioritization diversity --seed 0 --n_epochs 50 --num_cpu 16 --logdir logs/fetchpushv1/cpu16ep50/alg=DDPG+DTGSH=/r0 --logging True
python train.py --env_name FetchPickAndPlace-v1 --clip_div=0.001 --use_kdpp True --prioritization diversity --seed 0 --n_epochs 50 --num_cpu 16 --logdir logs/fetchpickv1/cpu16ep50/alg=DDPG+DTGSH=/r0 --logging True

The scripts for HandEnv:

python train.py --env_name HandManipulateEggFull-v0 --use_kdpp True  --prioritization diversity --seed 0 --goal_type full --sigma 0.1 --n_epochs 50 --num_cpu 16 --logdir logs/handegg1/cpu16ep50/alg=DDPG+DTGSH=/r0 --logging True
python train.py --env_name HandManipulateBlockRotateXYZ-v0 --use_kdpp True  --prioritization diversity --seed 0 --goal_type rotate --sigma 0.1 --n_epochs 50 --num_cpu 16 --logdir logs/handblock1/cpu16ep50/alg=DDPG+DTGSH=/r0 --logging True
python train.py --env_name HandManipulatePenRotate-v0 --use_kdpp True --prioritization diversity --seed 0 --goal_type rotate --sigma 0.1 --n_epochs 50 --num_cpu 16 --logdir logs/handpen1/cpu16ep50/alg=DDPG+DTGSH=/r0 --logging True

Acknowledgements

@ruizhaogit for Priority-based Experience Replay
@openai for Baselines
@satwik77 for Original DPP Implementation

This is the official code of our paper "Diversity-based Trajectory and Goal Selection with Hindsight Experience Relay" (PRICAI 2021)

Related tags

Overview

Diversity-based Trajectory and Goal Selection with Hindsight Experience Replay

Pre-requisites

Installation

Usage

Acknowledgements

Owner

Tianhong Dai

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