Sawyer robot learning to reach a target with paralleled Soft Actor-Critic (SAC) algorithm, using CoppeliaSim and PyRep for robot simulation. The environment is wrapped into OpenAI Gym format.
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First, start by installing CoppeliaSim V4.2.0, previously called V-REP and PyRep, a toolkit for robot learning research, built on top of CoppeliaSim.
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To install the required packages for SAC agent, move to the repository folder and run,
pip install -r requirements.txt
- To train and test the policy learnt, run
python sac_learn.py --train
python sac_learn.py --test