Homework-2

Setup and Installation

Colab notebook Course Website including writeup

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. It is the same as last assignment

conda env create -f environment.yml
conda activate cse579a1

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"

What you have to do:

Follow the instructions in the write up to complete the TODOs in the following files:

• policy_gradient.py
• actor_critic.py
• sac.py Psudeo code for each of these steps is provided in the write up at the end. Try to not use the pseudocode but it is there as a resource if you need it.

Training

python main.py  --task pg --env pendulum
python main.py  --task actor_critic --env pendulum
python main.py  --task sac --env pendulum

Evaluation

python main.py  --task pg --env pendulum --test
python main.py  --task actor_critic --test --env pendulum
python main.py  --task sac --test --env pendulum