This is the official implementation of our paper "Diversity-based Trajectory and Goal Selection with Hindsight Experience Replay" [PRICAI 2021][Arxiv][Slides].
- python==3.6.8
- gym==0.12.5
- mujoco-py==2.0.2.0
- tensorflow==1.13.1
- Install the OpenMPI:
sudo apt-get install openmpi-bin openmpi-doc libopenmpi-dev- Install the required python packages.
- Install
baseline:
pip install -e .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
- @ruizhaogit for Priority-based Experience Replay
- @openai for Baselines
- @satwik77 for Original DPP Implementation
To cite this code for publications - please use:
@inproceedings{dai2021her
author={Dai, Tianhong and Liu, Hengyan and Arulkumaran, Kai and Ren, Guangyu and Bharath, Anil Anthony},
title={Diversity-Based Trajectory and Goal Selection with Hindsight Experience Replay},
booktitle={Pacific Rim International Conference on Artificial Intelligence},
year={2021},
pages={32--45},
publisher={Springer},
}