Implementation of the Deep Deterministic Policy Gradient with Hindsight Experience Replay Extension on the MuJoCo's robotic FetchPickAndPlace environment.
Visit vanilla_DDPG branch for the implementation without the HER extention.
- gym == 0.17.2
- matplotlib == 3.1.2
- mpi4py == 3.0.3
- mujoco-py == 2.0.2.13
- numpy == 1.19.1
- opencv_contrib_python == 3.4.0.12
- psutil == 5.4.2
- torch == 1.4.0
pip3 install -r requirements.txtmpirun -np $(nproc) python3 -u main.py
- Continuous control with deep reinforcement learning, Lillicrap et al., 2015
- Hindsight Experience Replay, Andrychowicz et al., 2017
- Multi-Goal Reinforcement Learning: Challenging Robotics Environments and Request for Research, Plappert et al., 2018
All the credit goes to @TianhongDai for his simplified implementation of the original OpenAI's code.