DeeKay3 / TORCS_DDPG

Training a Self-Driving Race Car in the TORCS environment using DDPG. Implemented as a project for the Graduate level Deep Reinforcement Learning course.

The setup of the TORCS environment is completed thanks to Tolga Ok.

Parts of the code are inspired and taken from https://github.com/jastfkjg/DDPG_Torcs_PyTorch

USING DDPG TO TRAIN A SELF-DRIVING CAR IN TORCS

This project uses DDPG to train a self driving racing car that navigates the tracks as fast as possible, while remaining on track. It uses the numeric features provided by the environment. The project is done for a graduate level Deep Reinforcement Learning course.

Install

• Install required libraries

sudo apt-get install libglib2.0-dev libgl1-mesa-dev libglu1-mesa-dev freeglut3-dev libplib-dev libopenal-dev libalut-dev libxi-dev libxmu-dev libxrender-dev libxrandr-dev libpng12-dev

• Download repo

git clone https://github.com/ugo-nama-kun/gym_torcs.git

• cd into downloaded repo

cd gym_torcs/vtorcs-RL-color/

./configure

• below commands may require sudo make

make install

make datainstall

Prepare

• If you installed the game with sudo, you need to give your user account access to game files

sudo chown -R YOUR_USERNAME /usr/local/share/games/torcs

• Back to the main repo

cd ..

• Change the race configs

mv quickrace.xml /usr/local/share/games/torcs/config/raceman/quickrace.xml

How to Run

• To train, run train.py
• To test, run test.py
• You can change the arguments in order to save specific models and run them