Homework-3 Model Based RL

WriteUp

Setup and Installation

Install MuJoCo

1. Download the MuJoCo version 2.1 binaries for Linux or OSX.
2. Extract the downloaded mujoco210 directory into ~/.mujoco/mujoco210.
3. Add resources/mjkey.txt in the repo into into ~/.mujoco/mujoco210.

Setup environment

To set up the project environment, Use the environment.yml file. It contains the necessary dependencies and installation instructions.

conda env create -f environment.yml
conda activate cse542a1

Install LibGLEW

sudo apt-get install libglew-dev
sudo apt-get install patchelf

Export paths variables

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/.mujoco/mujoco210/bin
export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so

Compile mujoco_py (only needs to be done once)

python -c "import mujoco_py"

Training

python main.py  --model_type single --plan_mode random_mpc
python main.py  --model_type single --plan_mode mppi
python main.py  --model_type ensemble --plan_mode mppi

Evaluation

python main.py  --model_type single --plan_mode random_mpc --test --render
python main.py  --model_type single --plan_mode mppi --test --render
python main.py  --model_type ensemble --plan_mode mppi --test --render