cypypccpy / drlgrasp

Train robot grasp with deep reinforcement learning in pybullet.

drlgrasp: deep reinforcement learning grasp

内容列表

• 背景
• 安装
• 用法
• TODO
• 如何贡献
• 使用许可
  
  

背景

• Train kuka robot reach a point with deep rl in pybullet.
  
  

安装 (Now only support linux and macos)

I strongly recommend using Conda to install the env, because you will possible encounter the mpi4py error with pip.

The spinningup rl library is the necessary lib. first, you should install miniconda or anaconda. second, install some dev dependencies.

sudo apt-get update && sudo apt-get install libopenmpi-dev
sudo apt install libgl1-mesa-glx

third, create a conda virtual environment

conda create -n spinningup python=3.6   #python 3.6 is recommended

#activate the env
conda activate spinningup

then, install spiningup,is contains almost dependencies

# clone my version, I made some changes.
git clone https://github.com/borninfreedom/spinningup.git
cd spinningup
pip install -e .

last, install torch and torchvision.

if you have a gpu, please run this (conda will install a correct version of cudatoolkit and cudnn in the virtual env, so don't care which version you have installed in your machine.)

# CUDA 10.1
conda install pytorch==1.4.0 torchvision==0.5.0 cudatoolkit=10.1 -c pytorch

if you only have a cpu, please run this,

# CPU Only
conda install pytorch==1.4.0 torchvision==0.5.0 cpuonly -c pytorch

用法

view the train results through plot

python -m spinup.run plot ./logs

More detailed information please visit plotting results

TODO

如何贡献

See the contributing file!

使用许可

MIT © Richard McRichface.