HRLfD-RbRS

This is a PyTorch implementation for our paper "Hierarchical Reinforcement Learning from Demonstration via Reachability -Based Reward Shaping"

Dependencies

• Python 3.7
• PyTorch 1.7
• OpenAI Gym
• MuJoCo

Now the MuJoCo license is no longer needed, but if you need (see here).

Usage

Update: implementation for discrete control tasks is in discrete/ folder; please refer to the usage therein.

Training

• Ant Gather

python main.py --env_name AntGather

• Ant Maze

python main.py --env_name AntMaze

Evaluation

• Ant Gather

python eval.py --env_name AntGather --model_dir [MODEL_DIR]

• Ant Maze

python eval.py --env_name AntMaze --model_dir [MODEL_DIR]

Default model_dir is pretrained_models/.