|
--- |
|
tags: |
|
- sac |
|
- deep-reinforcement-learning |
|
- reinforcement-learning |
|
- teach-my-agent-parkour |
|
model-index: |
|
- name: Self-Paced_SAC_bipedal_s8 |
|
results: |
|
- metrics: |
|
- type: mean_reward |
|
value: 227.88 +/- 131.47 |
|
name: mean_reward |
|
task: |
|
type: reinforcement-learning |
|
name: reinforcement-learning |
|
dataset: |
|
name: teach-my-agent-parkour |
|
type: teach-my-agent-parkour |
|
--- |
|
|
|
# Deep RL Agent Playing TeachMyAgent's parkour. |
|
You can find more info about TeachMyAgent [here](https://developmentalsystems.org/TeachMyAgent/). |
|
|
|
Results of our benchmark can be found in our [paper](https://arxiv.org/pdf/2103.09815.pdf). |
|
|
|
You can test this policy [here](https://huggingface.co/spaces/flowers-team/Interactive_DeepRL_Demo) |
|
|
|
## Results |
|
Percentage of mastered tasks (i.e. reward >= 230) after 20 millions steps on the Parkour track. |
|
|
|
Results shown are averages over 16 seeds along with the standard deviation for each morphology as well as the aggregation of the 48 seeds in the *Overall* column. |
|
|
|
We highlight the best results in bold. |
|
|
|
| Algorithm | BipedalWalker | Fish | Climber | Overall | |
|
|---------------|----------------|---------------|--------------|---------------| |
|
| Random | 27.25 (± 10.7) | 23.6 (± 21.3) | 0.0 (± 0.0) | 16.9 (± 18.3) | |
|
| ADR | 14.7 (± 19.4) | 5.3 (± 20.6) | 0.0 (± 0.0) | 6.7 (± 17.4) | |
|
| ALP-GMM | **42.7** (± 11.2) | 36.1 (± 28.5) | 0.4 (± 1.2) | **26.4** (± 25.7) | |
|
| Covar-GMM | 35.7 (± 15.9) | 29.9 (± 27.9) | 0.5 (± 1.9) | 22.1 (± 24.2) | |
|
| GoalGAN | 25.4 (± 24.7) | 34.7 ± 37.0) | 0.8 (± 2.7) | 20.3 (± 29.5) | |
|
| RIAC | 31.2 (± 8.2) | **37.4** (± 25.4) | 0.4 (± 1.4) | 23.0 (± 22.4) | |
|
| SPDL | 30.6 (± 22.8) | 9.0 (± 24.2) | **1.0** (± 3.4) | 13.5 (± 23.0) | |
|
| Setter-Solver | 28.75 (± 20.7) | 5.1 (± 7.6) | 0.0 (± 0.0) | 11.3 (± 17.9) | |
|
|
|
# Hyperparameters |
|
```python |
|
{'student': 'SAC' |
|
'environment': 'parkour' |
|
'training_steps': 20000000 |
|
'n_evaluation_tasks': 100 |
|
'teacher': 'Self-Paced' |
|
'morphology': 'old_classic_bipedal'} |
|
``` |
|
|
