ABPO (Approximate Bi-level Policy Optimization)

Installation

ABPO requires:

1. Windows 7 or greater or Linux.
2. Python 3.6 or greater. We recommend using Python 3.8.
3. The installation path must be in English.

You can install ABPO through the following steps:

# clone ABPO repository
git clone https://github.com/TroyResearch/ABPO.git
cd ABPO
# create conda environment
conda env create -f gops_environment.yml
conda activate gops
# install GOPS
pip install -e .

Documentation

The tutorials and API documentation are hosted on gops.readthedocs.io.

Quick Start

This is an example of running finite-horizon Approximate Dynamic Programming (FHADP) on inverted double pendulum environment. Train the policy by running:

python example_train/fhadp/fhadp2_mlp_semitruckpu7dof_serial.py

After training, test the policy by running:

python example_run/run_semitruckpu7dof_abpo.py