Description

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Reimplementation of Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor.

Contributions are welcome. If you find any mistake (very likely) or know how to make it more stable, don't hesitate to send a pull request.

Requirements

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• mujoco-py
• Plotly
• PyTorch

Run

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For SAC :

python main.py --env-name Humanoid-v2 --scale_R 20 

For SAC (Hard Update):

python main.py --env-name Humanoid-v2 --scale_R 20 --tau 1 --value_update 1000

For SAC (Deterministic, Hard Update):

python main.py --env-name Humanoid-v2 --scale_R 20 --deterministic True --tau 1 --value_update 1000

Results

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My results on Humanoid-v2 environment using SAC, SAC(hard update) and SAC(deterministic, hard update). This is a plot of average rewards at every 10000 step interval

Hyperparameters

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Use the following hyperparameters for different environment:

Parameters	Value
Shared	-
optimizer	Adam
learning rate	3x10−4
discount (γ)	0.99
replay buffer size	1x106
number of hidden layers (all networks)	2
number of hidden units per layer	256
number of samples per minibatch	256
nonlinearity	ReLU
SAC	-
target smoothing coefficient (τ)	0.005
target update interval	1
gradient steps	1
SAC (Hard Update)	-
target smoothing coefficient (τ)	1
target update interval	1000
gradient steps (except humanoids)	4
gradient steps (humanoids)	1

Environment	Reward Scale
HalfCheetah-v2	5
Hopper-v2	5
Walker2d-v2	5
Ant-v2	5
Humanoid-v2	20