This repository contains the code to implement the Hierarchical Actor-Critic (HAC) algorithm. A more detailed README is coming soon.

To train a 4-layered agent in an inverted pendulum environment, run "python3 initialize_HAC.py --retrain". The following video (https://www.youtube.com/watch?v=yXNfI3kWUTo) shows how 4-layered agents performed after 1100 episodes of training. Command line options to customize the agent's hierarchy (# of levels/time limits) or to visualize training can be found in the "options.py" file along with other options. To train in a different Mujoco environment, follow the instructions in the "design_env.py" file.

Happy to answer any questions you have. Please email me at [email protected].