AGKhalil / diss_quad

RL agent for quad env

diss_quad

This project explored Curriculum Learning design in Deep Reinforcement Learning on Quadrupedal Locomotion. The project dissertation report can be found here. Here is the link to the quarupedal gym environemnt and here is the link to the autoamted curriculum design gym environment.

Please note that the main code is in the newHdd branch.

Below are some chosen gifs of the agent performing in its design curricula.

(0.1, 0.1) (0.1, 0.2) (0.1, 0.3) (0.1, 0.4) (0.1, 0.5) (0.1, 0.7)

(0.2, 0.1) (0.2, 0.2) (0.2, 0.3) (0.2, 0.4)

(0.3, 0.1) (0.3, 0.2) (0.3, 0.3) (0.3, 0.4) (0.3, 0.5) (0.3, 0.7)

(0.4, 0.1) (0.4, 0.2) (0.4, 0.3) (0.4, 0.4)

(0.5, 0.1) (0.5, 0.2) (0.5, 0.3) (0.5, 0.4)

(0.7, 0.1) (0.7, 0.2) (0.7, 0.3) (0.7, 0.4)