This code is based on a public meta-rl github repository learn2learn
Video of real world demonstrations on a TurtleBot
To run expirements you will need the the following packages:
- cherry-rl 0.1.4
- tensorboard
- learn2learn
- mujoco-py 2.0.2.13
- torch 1.10.0
- gym 0.21.1
To run the experiments, simply execute the following commands,
Particle2D Navigation:
python EMRLD_PN.py --exp-num i
python EMRLD-WS_PN.py --exp-num i
Two Wheeled Locomotion:
python EMRLD_TW.py --exp-num i
python EMRLD-WS_TW.py --exp-num i
HalfCheetah Forward-Backward:
python EMRLD_HC.py --exp-num i
python EMRLD-WS_HC.py --exp-num i
Where i = 1 is for Optimal demonstration data, and i = 2 is for sub-optimal demonstration data