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Replace Mujoco with PyBullet

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This commit is contained in:
Shangtong Zhang
2018-05-10 22:30:31 -06:00
parent 508ff8aea7
commit 9d53c75bd8
4 changed files with 53 additions and 40 deletions
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examples.py
+7 -14
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@@ -312,12 +312,7 @@ def ppo_continuous():
config = Config()
config.num_workers = 1
# task_fn = lambda log_dir: Pendulum(log_dir=log_dir)
# task_fn = lambda log_dir: Roboschool('RoboschoolInvertedPendulum-v1', log_dir=log_dir)
task_fn = lambda log_dir: Roboschool('RoboschoolAnt-v1', log_dir=log_dir)
# task_fn = lambda log_dir: Roboschool('RoboschoolReacher-v1', log_dir=log_dir)
# task_fn = lambda log_dir: Roboschool('RoboschoolHopper-v1', log_dir=log_dir)
# task_fn = lambda log_dir: DMControl('cartpole', 'balance', log_dir=log_dir)
# task_fn = lambda log_dir: DMControl('hopper', 'hop', log_dir=log_dir)
task_fn = lambda log_dir: Bullet('AntBulletEnv-v0', log_dir=log_dir)
config.task_fn = lambda: ParallelizedTask(task_fn, config.num_workers, log_dir=get_default_log_dir(ppo_continuous.__name__))
actor_network_fn = lambda state_dim, action_dim: GaussianActorNet(
action_dim, FCBody(state_dim))
@@ -345,14 +340,12 @@ def ddpg_continuous():
config = Config()
log_dir = get_default_log_dir(ddpg_continuous.__name__)
# config.task_fn = lambda: Pendulum(log_dir=log_dir)
# config.task_fn = lambda: Roboschool('RoboschoolInvertedPendulum-v1', log_dir=log_dir)
# config.task_fn = lambda: Roboschool('RoboschoolReacher-v1', log_dir=log_dir)
config.task_fn = lambda: Roboschool('RoboschoolHopper-v1')
# config.task_fn = lambda: Roboschool('RoboschoolAnt-v1', log_dir=log_dir)
# config.task_fn = lambda: Roboschool('RoboschoolWalker2d-v1', log_dir=log_dir)
# config.task_fn = lambda: DMControl('cartpole', 'balance', log_dir=log_dir)
# config.task_fn = lambda: DMControl('finger', 'spin', log_dir=log_dir)
config.evaluation_env = Roboschool('RoboschoolHopper-v1', log_dir=log_dir)
config.task_fn = lambda **kwargs: Bullet('AntBulletEnv-v0', **kwargs)
# start the test environment in a new process, it is a workaround to the issue
# https://github.com/bulletphysics/bullet3/issues/1643
config.evaluation_env = ProcessTask(config.task_fn, log_dir=log_dir)
config.actor_network_fn = lambda state_dim, action_dim: DeterministicActorNet(
action_dim, FCBody(state_dim, (300, 200)))
config.critic_network_fn = lambda state_dim, action_dim: DeterministicCriticNet(