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Machine Learning For Unicycling

This project is for training a neural network to ride a sumlation of a unicycle, using reinforcement learning.

Video of simulated unicycle riding

I took the cartpole example from here, and modified to be a unicycle.

I find the gym+keras ecosystem terribly confusing. Having a custom environment is really confusing, in terms of directory structure. So the env.py is supposed to be a shortcut to gym-unicycle/gym_unicycle/envs/unicycle_env.py. But sometimes shortcuts don't work well with git.

How to Use

  • Run ./makeEnv.sh. This creates a virtual env. I can't have just a requirements.txt file, because the installation of gym and a custom env is a bit odd.

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Machine learning for unicycle riding

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