xinyangt / librl

librl

Installation

Tested in Ubuntu 16.04 and Ubuntu 18.04 with python 3.5, 3.6, 3.7.

Install librl and most of the requirements

Install this repo and requirements:

git clone https://github.com/cacgt/librl.git
pip install --upgrade -r requirements.txt

You may need to run

export PYTHONPATH="{PYTHONPATH}:[the parent folder of librl repo]"

The current version requires also tensorflow2.

pip install --upgrade tensorflow

Install DART

The Ubuntu package is too new for PyDart2, so we install it manually.

First install the requirements following the instructions of Install DART from source at https://dartsim.github.io/install_dart_on_ubuntu.html. Next we compile and install DART manually, because PyDart2 only supports DART before 6.8.

git clone git://github.com/dartsim/dart.git
cd dart
git checkout tags/v6.7.2
mkdir build
cd build
cmake ..
make -j4
sudo make install

Someitmes the library may need to be linked manually.

echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/lib:/usr/lib:/usr/local/lib" >> ~/.bashrc

Install PyDart2

Installing PyDart2 through pip does not work, so we install it manually.

git clone https://github.com/sehoonha/pydart2.git
cd pydart2
python setup.py build build_ext
python setup.py develop

Install DartEnv

This is a slightly modified version of DartEnv. The changes include:

• Make nodisplay as default.
• Add a state property for convenience.

To install it,

git clone https://github.com/gtrll/dartenv.git
cd dartenv
git checkout nodisplay
pip install -e .[dart]

Run experiments

Firstly, go to the main folder.

cd librl

Run a single script, e.g., Policy Gradient in scripts/pg.py

python scripts/pg.py

Run scripts/pg.py with a set of different configurations given as a dict named range_common in scripts/pg_ranges.py

python batch_run.py pg -r common