Reinforcement learning on a series elastic actuated snake robot
Database used for offline learning and videos of the results: here
- CompliantSnake0.py: State of the art compliant controller with 6 windows - used to generate offline data.
- CompliantSnake.py: Snake controller running the learned model stored in "model_offlineA3C"
- Results: Videos and Optitrack logs of trial runs, and scripts to plot the results.
- A3C.ipnyb: IPython notebook which runs the A3C algorithm with 6 workers on the offline database p_experiments.snake located here
**Note: The module "hebiapi" is currently not publicly available, but it is only used for sending and recieving low-level joint information to the robot.