Deep Reinforcement Learning for Robotic Arm with Sequential Tasks

Requirements

Preparation

• Ubuntu=20.04
• MuJoCo-3.1.4+
• Python 3.8 +

Open terminal and type the following commands, then a new conda environment could be built:

conda create -n robot python=3.8
conda activate robot
pip install robopal 
git clone https://github.com/NoneJou072/robopal.git
cd robopal
pip install -r requirements.txt

After the installation ends you can activate your environment with:

source activate robot

Instructions

Conduct task training

cd train 
python test_train_conveyor.py  --train=1

When the training is complete, the data and lines can be observed in tensorboard.

tensorboard --logdir logs

Test the trained model

python test_train_conveyor.py  --train=0