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ObstacleEnviroments
ObstacleEnviroments
 
 
logs
logs
 
 
metaworld
metaworld
 
 
models
models
 
 
plots
plots
 
 
.DS_Store
.DS_Store
 
 
.gitignore
.gitignore
 
 
GripperControl.py
GripperControl.py
 
 
NormalStepEnv.py
NormalStepEnv.py
 
 
README.md
README.md
 
 
RL_PPA_monitor.py
RL_PPA_monitor.py
 
 
SubGoalEnv.py
SubGoalEnv.py
 
 
execute_model_mt10_ppo_subgoal.py
execute_model_mt10_ppo_subgoal.py
 
 
plot.py
plot.py
 
 
test_mt10_subgoal_env_creation.py
test_mt10_subgoal_env_creation.py
 
 
test_normal_obstacle_env.py
test_normal_obstacle_env.py
 
 
test_subgoal_env_pick_place.py
test_subgoal_env_pick_place.py
 
 
test_subgoal_env_reach.py
test_subgoal_env_reach.py
 
 
test_subgoal_env_with_obstacle_env.py
test_subgoal_env_with_obstacle_env.py
 
 
train_mt10_ppo_subgoal.py
train_mt10_ppo_subgoal.py
 
 
train_mt50_ppo_subgoal.py
train_mt50_ppo_subgoal.py
 
 
train_ppo_normal.py
train_ppo_normal.py
 
 
train_ppo_normal_obstacle_env.py
train_ppo_normal_obstacle_env.py
 
 
train_ppo_obstacle_env.py
train_ppo_obstacle_env.py
 
 
train_ppo_subgoal.py
train_ppo_subgoal.py
 
 

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RL_PPA Improvements

The main branch of this repository enhances RL-PPA with teleportation.
The PDQN branch of this repository implements Parameterized DQN on stable_baselines3 (release 1.5.0) to improve sample efficiency.
CPP-GripperControl branch:

The original GripperControl module was implemented in python. The new CPP implementation computes A* search 10 times faster compared to the old implementation(on average). TODO: add GripperControl teleportation in CPP

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