Inverted Pendulum RL Control Packages

This repository contains the RL Control package for the Inverted Pendulum Simulation.

Quick Start

Start the partnered simulation:

roslaunch rrbot_gazebo rrbot_world.launch rviz:=true

Start the rl training node:

rosrun inverted_pendulum_rl_control train_ddpg.py

Once training has produced a model, you can save it to a file with with the following command:

rosservice call /save_model "filename: 'model_name'"

This command saves the model to the inverted_pendulum_rl_control/models/ folder.

You can load and evaluate a model with the following command:

roslaunch inverted_pendulum_rl_control eval.launch

This repo contains an existing model that can be evaluated like so:

roslaunch inverted_pendulum_rl_control eval.launch rl_model_name:=trained_actor.pkl

The DDPG algorithm used was inspired by the simple-pytorch-rl repo.