1.1 Learn the basic DRL concepts and popular algorithms.
1.2 Focus more on DDPG+HER algorithm.
1.) mujoco-py has more active community: the number of open issues ~120, while dm_control ~10.
WuXinyang2012
/ collision.py
Created
November 16, 2018 13:05
A script for detecting the collision and calculating the contact forces in mujoco environments.
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| #!/usr/bin/env python | |
| import os | |
| import mujoco_py | |
| import numpy as np | |
| PATH_TO_HUMANOID_XML = os.path.expanduser('~/.mujoco/mjpro150/model/humanoid.xml') | |
| #PATH_TO_HUMANOID_XML = os.path.expanduser('/home/rfa-xw/anaconda3/envs/mujoco-py/lib/python3.6/site-packages/gym/envs/robotics/assets/fetch/reach.xml') |
WuXinyang2012
/ .gitignore_global
Last active
February 5, 2019 15:00
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| ###Mac OS ignore | |
| .DS_Store | |
| ### PyCharm ### | |
| # User-specific stuff | |
| .idea/**/workspace.xml | |
| .idea/**/tasks.xml | |
| .idea/**/usage.statistics.xml | |
| .idea/**/dictionaries |
WuXinyang2012
/ create_obstacle_mujoco.md
Created
March 1, 2019 11:15
1.)qpos: position; qvel: velocity
2.)mujoco-py use actuator to make the move
joint type: free, ball, slide, hinge
actuator type: motor, position, velocity, cylinder, muscle
sensor type: touch, accelerometer, velocimeter, gyro, force, torque, magnetometer...
3.)
WuXinyang2012
/ cartpole_swingup.py
Last active
July 13, 2023 12:42
A CartPole-SwingUp env as in PILCO, with {cos(theta), sin(theta)} as observation, instead of theta.
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| """ | |
| Cart pole swing-up: Identical version to PILCO V0.9 | |
| """ | |
| import logging | |
| import math | |
| import gym | |
| from gym import spaces | |
| from gym.utils import seeding | |
| import numpy as np |