Sawyer robot learning to reach the target (Reacher) controlled with PPO algorithm, using PyRep for Sawyer robot simulation and game building. The environment is wrapped into Openai Gym format in ./reacher_sawyer_env.py
.
First check the environment can run successfully:
python reacher_sawyer_env_boundingbox.py
If it works properly with VRep called to run a scene, then go to next step; otherwise check the requirements.txt
for necessary packages and versions.
Run a single-process PPO for testing:
python ppo_single.py
Run multi-process SAC for distributed training:
python sac_multi.py --train
for non-vectorized environment;
python sac_multi_vec2.py --train
for vectorized environment (acceleration).