Assignments for CSC375-w22

Assignment 1

Open this Google Colab and make a copy.
Running the first 4 cells will take care of all dependencies you will require.
Look for the spots that say "YOUR CODE STARTS HERE". There should be 3 functions you are required to fill in.

Open this Google Colab and make a copy.
Look for the spots that say "Code starts here". There should be 6 functions you are required to fill in.

cd into csc375-w22-p3 in your cloned github directory.
Run pip install pybullet in your command line shell.
Look for "YOUR CODE STARTS HERE". There should be The only two files containing such statements are in main.py and robot.py and 6 places in total.
You should not have to make any changes in any of the other files.
After you are finished, running python main.py should bring up a simulated robot that picks up blocks, places them in the bins, then takes them out of the bin and repeats indefinitely.

Open P1_differential_flatness.py in HW2.
Look for the spots that say "Code starts here". There should be 3 spots you are required to fill in.

Open this Google Colab and make a copy.
Look for the spots that say "YOUR CODE STARTS HERE". There should be 9 spots you are required to fill in.

From your command line: cd kuka_grasp_rl.
Look for the spots that say "Code starts here". There should be 5 spots you are required to fill in in agents.py and kuka_grasp_actor_critic.py.
Run by calling: python kuka_grasp_actor_critic.py.
renders=True in the env initialization will enable the GUI when running on your local machine. This will help with debugging.
After you have debugged, use UTM machines for training in full, by disabling the GUI (renders=False in the env initialization). This will train faster.