Robot Reinforcement Learning on the Constraint Manifold

Last update: Dec 5, 2022

Related tags

Deep Learning rl_on_manifold

Overview

Acting on the Tangent Space of the Constraint Manifold

Implementation of "Robot Reinforcement Learning on the Constraint Manifold"

[paper] [website]

Install

pip install -e .

Run Examples

cd examples

CircularMotion Environment.

Environment options [A, E, T], algorithms options [TRPO, PPO, SAC, DDPG, TD3]

python circle_exp.py --render --env A --alg TRPO

PlanarAirHockey Environment.

Environment options [H, D, UH, UD], algorithms options [TRPO, PPO, SAC, DDPG, TD3]

python planar_air_hockey_exp.py --debug-gui --env H --alg SAC

IiwaAirHockey Environment.

Environment options [7H, RMP], algorithms options [TRPO, PPO, SAC, DDPG, TD3]

python iiwa_air_hockey_exp.py --debug-gui --env 7H --alg SAC

CollisionAvoidance Environment.

Environment options [C], algorithms options [TRPO, PPO, SAC, DDPG, TD3]

python collision_avoidance_exp.py --render --env C --alg SAC

Bibtex

@inproceedings{CORL_2021_Learning_on_the_Manifold,
  author =      "Liu, P. and  Tateo D. and  Bou-Ammar, H. and  Peters, J.",
  year =        "2021",
  title =       "Robot Reinforcement Learning on the Constraint Manifold",
  booktitle =   "Proceedings of the Conference on Robot Learning (CoRL)",
  key =	        "robot learning, constrained reinforcement learning, safe exploration",
}

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Comments

Requirements list pytorch which is deprecated for pip

Hi,

When installing the package following instructions in the readme file, pytorch cannot be installed by pip. This is because pytorch is deprecated and torch should be used instead. Replacing pytorch with torch in requirements.txt fixes this issue.

opened by Ptisni 1

Robot Reinforcement Learning on the Constraint Manifold

Related tags

Overview

Acting on the Tangent Space of the Constraint Manifold

Install

Run Examples

CircularMotion Environment.

PlanarAirHockey Environment.

IiwaAirHockey Environment.

CollisionAvoidance Environment.

Bibtex

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