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This is the pytorch implementation of Hindsight Experience Replay (HER) - Experiment on all fetch robotic environments.

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Hindsight Experience Replay (HER)

This is a pytorch implementation of Hindsight Experience Replay.

Acknowledgement:

Requirements

  • python=3.5.2
  • openai-gym=0.12.5 (mujoco200 is supported, but you need to use gym >= 0.12.5, it has a bug in the previous version.)
  • mujoco-py=1.50.1.56 (Please use this version, if you use mujoco200, you may failed in the FetchSlide-v1)
  • pytorch=1.0.0 (If you use pytorch-0.4.1, you may have data type errors. I will fix it later.)
  • mpi4py

TODO List

  • support GPU acceleration - although I have added GPU support, but I still not recommend if you don't have a powerful machine.
  • add multi-env per MPI.
  • add the plot and demo of the FetchSlide-v1.

Instruction to run the code

If you want to use GPU, just add the flag --cuda (Not Recommended, Better Use CPU).

  1. train the FetchReach-v1:
mpirun -np 1 python -u train.py --env-name='FetchReach-v1' --n-cycles=10 2>&1 | tee reach.log
  1. train the FetchPush-v1:
mpirun -np 8 python -u train.py --env-name='FetchPush-v1' 2>&1 | tee push.log
  1. train the FetchPickAndPlace-v1:
mpirun -np 16 python -u train.py --env-name='FetchPickAndPlace-v1' 2>&1 | tee pick.log
  1. train the FetchSlide-v1:
mpirun -np 8 python -u train.py --env-name='FetchSlide-v1' --n-epochs=200 2>&1 | tee slide.log

Play Demo

python demo.py --env-name=<environment name>

Download the Pre-trained Model

Please download them from the Google Driver, then put the saved_models under the current folder.

Results

Training Performance

It was plotted by using 5 different seeds, the solid line is the median value. Training_Curve

Demo:

Tips: when you watch the demo, you can press TAB to switch the camera in the mujoco.

FetchPush-v1 FetchPickAndPlace-v1 FetchSlide-v1

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This is the pytorch implementation of Hindsight Experience Replay (HER) - Experiment on all fetch robotic environments.

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