librl

Installation

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

Install rlfamily and most of the requirements

Prepare python3 virtual environment:

sudo apt-get install python3-pip
sudo pip3 install virtualenv
virtualenv --system-site-packages -p python3 ./venv
source ./venv/bin/activate
pip install --upgrade -r requirements.txt

Install this repo and requirements:

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

You may need to run

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

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. We compile and install it 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 you may need to link library 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