gym_bicycle

Gym environment for Bicycle model

For RL zoo: clone this repo into the RL-zoo folder from

https://github.com/DLR-RM/rl-baselines3-zoo

Add the following into hyperparams/ppo.yml

# custom
BicycleKin-v0:
  vec_env_wrapper: 
    - stable_baselines3.common.vec_env.VecMonitor
    - stable_baselines3.common.vec_env.vec_normalize.VecNormalize
  n_envs: 20
  n_timesteps: !!float 1e7
  policy: 'MlpPolicy'
  n_steps: 20_000
  gae_lambda: 0.95
  gamma: 0.9
  n_epochs: 10
  ent_coef: 0.0
  learning_rate: !!float 1e-3
  clip_range: 0.2
  use_sde: True
  sde_sample_freq: 4

Also add the following to utils/import_envs.py

register(id="BicycleKin-v0", entry_point="gym_bicycle.envs:BicycleKin")

gym.envs.register( id='BicycleKin-v0', entry_point='gym_bicycle.envs:BicycleKin')

try running

python train.py --algo ppo --env "BicycleKin-v0" --vec-env "subproc"

asokraju/gym_bicycle

gym_bicycle