/DQN-SwingUp

DQN algorithm to solve the swing-up problem for a N-Pendulum

Primary LanguagePythonMIT LicenseMIT

DQN Algorithm N-Pendulum Swing-Up

Double Pendulum Swing Up

Introduction

This project aims at implementing the DQN algorithm to solve the single and double pendulum swing-up problem. It uses Pinocchio library to compute the dynamics of the system and Gepetto Viewer to visualize the system. The DQN algorithm is implemented using Tensorflow 2.12.

Installation

Dependencies

Requirements

  • Python 3.8
  • numpy==1.23.5
  • tensorflow==2.12.0
  • matplotlib==3.7.1
  • seaborn==0.12.2

Installation

Ubuntu 20.04

git clone https://github.com/PeriniM/DQN-SwingUp.git
cd ORC_Assignment_3/code
python -m venv env
source env/bin/activate
pip install -r requirements.txt

Windows

Pinocchio and Gepetto Viewer are not available. You can either install them in a UNIX environment (WSL, Anaconda etc.) or use the FakeEnv class to emulate a random environment for testing purposes. In this case, you need to follow the same steps for Ubuntu 20.04 and set the environment flag in the main.py file as follows:

isFake = True

Documentation

Project Structure

Usage

  • Set the parameters in the config.ini file
  • Set the environment and the number of joints in the main.py file
  • Set the train, evaluate and plot_colormaps flags in the main.py file
  • Run the main.py file

Papers

License

MIT