PPO-Pytorch

This is a well-written and easy-to-follow implementation of Proximal Policy Optimization algortihm, please refer to original paper from UCB: https://arxiv.org/abs/1707.06347

Dependencies

Anaconda & Python3 & Pytorch

please use python3 to run my code.

RoboSchool

RoboSchool is a open-source RL simulation platform to replicate Gym MuJoCo environment, which need license to use. for detailed instruction, please refer to official github: https://github.com/openai/roboschool here list simplified instruction.

• 1. set ROBOSCHOOL for following bullet3 installation

git clone https://github.com/openai/roboschool.git
cd roboschool
export ROBOSCHOOL_PATH=`pwd`

• 2. install bullet3 bullet3 will be installed into your ROBOSCHOOL folder as roboschool need it as 3nd library.

git clone https://github.com/olegklimov/bullet3 -b roboschool_self_collision
mkdir bullet3/build
cd    bullet3/build
cmake -DBUILD_SHARED_LIBS=ON -DUSE_DOUBLE_PRECISION=1 -DCMAKE_INSTALL_PREFIX:PATH=$ROBOSCHOOL_PATH/roboschool/cpp-household/bullet_local_install -DBUILD_CPU_DEMOS=OFF -DBUILD_BULLET2_DEMOS=OFF -DBUILD_EXTRAS=OFF  -DBUILD_UNIT_TESTS=OFF -DBUILD_CLSOCKET=OFF -DBUILD_ENET=OFF -DBUILD_OPENGL3_DEMOS=OFF ..
make -j8
make install

• 3. back to roboschool root directory make sure pip use python3.

pip install -e $ROBOSCHOOL_PATH

• if error:

If you see compilation error FIRST THING TO CHECK if pkg-config call was successful. Install dependencies that pkg-config cannot find.

occures, please export PKG_CONFIG_PATH=/path/to/your/python/lib/pkgconfig, for anaconda user, just

export PKG_CONFIG_PATH=/path/to/conda/lib/pkgconfig:$PKG_CONFIG_PATH

and then pip install -e $ROBOSCHOOL_PATH. I have tested it. for more details, refer to : openai/roboschool#94

• if error:

QGLShaderProgram: could not create shader program Could not create shader of type 2. python: render-simple.cpp:250: void SimpleRender::Context::initGL(): Assertion `r0' failed.

I searched Google and find some avaliable solution, but this will solve it by simply add one line:

from OpenGL import GLU

to the beginning of the python main source code. pls refer to : openai/roboschool#8 for more details.

• 4. verify its installation.

python $ROBOSCHOOL_PATH/agent_zoo/RoboschoolHumanoidFlagrun_v0_2017may.py

HowTO

Step 1. set OMP_NUM_THREADS=1, otherwise it will block multiprocessing threads.

export OMP_NUM_THREADS=1

Step 2. run

python train.py

Hopper