atul-g / open_ai_robotics

Solving the Open AI gym's Robotics environment (FetchPickAndPlace-v1) using DDPG and HER

NOTES:

• lowLevelTf_ddpg_her.py is the functional file. Based completely on Buntyke's implementation of DDPG and HER.

• ddpg_her.py and network_classes.py were an attempt to implement the same above code using high-level (tensorflow) Keras API. Had to discontinue it as the loss function of critic depended on the prediction from the same critic-taeget network which is hard to code using Keras.

• The corresponding graph images and the saved checkpoints are from the lowLevelTf_ddpg_her.py.

• ignore the trial* files