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README.md

skill-based-exploration-drl

code for reproducing results in paper on skill based exploration

To train an DDPG agent with e-normal exploration

$ python HER/examples/run.py --env-id=<env name> --eval-env-id=<test env name> --log-dir=<give logging dir path> --nb-rollout-steps=800 --nb-epochs=200

To train parameterized action space agent with hierarchical hindsight experience replay

$python HER/examples/prun.py --env-id=<env name> --eval-env-id=<test env name> --log-dir=<give logging dir path> --commit-for=10 --nb-rollout-steps=80 --nb-epochs=200 --skillset=set14 --her

To train the DDPG with skill library(will need to modify skill library paths in skills/set.py )

$python HER/examples/succlookaheadrun.py --env-id=<env name> --eval-env-id=<test env name> --log-dir=<give logging dir path> --commit-for=10 --nb-rollout-steps=800 --nb-epochs=200 --skillset=<skill set>

Some example commands used to train picknmove env

$ python HER/examples/run.py --env-id=picknmove-v2 --eval-env-id=picknmovet-v2 --log-dir=$HOME/new_RL3/corl_paper_results/clusters-v1/picknmove-v2/run1 --nb-rollout-steps=800 --nb-epochs=200

$ python HER/examples/succlookaheadrun.py --env-id=picknmove-v2 --eval-env-id=picknmovet-v2 --log-dir=$HOME/new_RL3/corl_paper_results/clusters-v1/picknmoveflat-v2/run1 --actor-lr=0.01 --critic-lr=0.01 --commit-for=10 --nb-rollout-steps=800 --nb-epochs=200 --skillset=set14

$python HER/examples/prun.py --env-id=picknmove-v2 --eval-env-id=picknmovet-v2 --log-dir=$HOME/new_RL3/corl_paper_results/clusters-v1/picknmovehie-v2/run1 --commit-for=10 --nb-rollout-steps=80 --nb-epochs=200 --skillset=set14

Acknowledgments

Our code is built over the high quality baselines DDPG implementation. We would like to thanks all the contributors to OpenAI gym, baselines and mujoco_py

@misc{baselines, author = {Dhariwal, Prafulla and Hesse, Christopher and Klimov, Oleg and Nichol, Alex and Plappert, Matthias and Radford, Alec and Schulman, John and Sidor, Szymon and Wu, Yuhuai}, title = {OpenAI Baselines}, year = {2017}, publisher = {GitHub}, journal = {GitHub repository}, howpublished = {\url{https://github.com/openai/baselines}}, }

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