mirror of
https://github.com/wassname/kair_algorithms_draft.git
synced 2026-08-24 12:11:41 +08:00
Seungjae Ryan Lee
ca5c99bc41
* Format repository * Clone files from medipixel repo * Fix DDPGfDAgent.update_model() * Fix bug on _initialize() * Add demo-path parameter and demo data * Rename init_priority to _max_priority for PER This makes PER and PERfD consistent. * Make i_episode attribute of DDPGAgent * Clone SAC code from medipixel repo * Fix update_model() for SACfD * Fix _initialize() for SACfD * Add is_discrete attribute to AbstractAgent for SACfD * Add i_episode attribute to SACAgent for SACfD * Modularize DDPGAgent and SACAgent * Modify hyperparameters for DDPGfD and SACfD * Add NStepBuffer * Add n-step to DDPGfD * Add n-step to SACfD * Add TD3fD without n-step * Attempt to tune hyperparameters * Remove discrete environment check in SAC * Implement n-step on TD3fD * Fix step function of TD3 No done check, and _add_transition_to_memory was not called. * Fix actor loss calculation for TD3fD * Attempt to tune hyperparameters * Print both critic losses * Fix typo bug * Attempt to tune hyperparameters * Fix bug in n-step demo retrieval * Fix bug in n-step transition addition
Research Repository Structure
We follow the .git strategy specified here, creating packages into separate repositories.
These are repositories checked to set this structure:
TODO
- Add medipixel/reinforcement_learning_examples to
/scripts/. launchandurdfcontains code for Sawyer robot. We plan to use OpenManipulator.package.xmlshould be updated appropriately.- Get repository verified by a ROS expert.
Repository Structure
+ launch/ -
+ msg/ - These are message descriptions for ROS.
+ scripts/ - This directory contains RL algorithms.
+ urdf/ - This package contains a C++ parser for the Unified Robot Description Format (URDF),
- .flake8 - This file specifies what rules should be enforced via flake8.
- .gitignore - This file specifies which folders and files to ignore in Git.
- CMakeLists.txt - This file specifies behavior of CMake.
- package.xml - This file specifies the ROS package.
- README.md - You are here
- roslaunch/ http://wiki.ros.org/roslaunch/XML.
- msg/ http://wiki.ros.org/msg
- urdf/ http://wiki.ros.org/urdf
- CMakeLists.txt http://wiki.ros.org/catkin/CMakeLists.txt
- package.xml http://wiki.ros.org/catkin/package.xml