Implementation of simple motion planning task and deep reinforcement learning with tensorflow 2.x.
The goal of our agent is to find the best path(fast and safe). For reinforcement learning algorithm, I used TD3 and SAC for training.
This repository contains 3 environments : 2-DOF, 3-DOF, 3-DOF with two arms. And those have very few difference with each other.
I hope it would be helpful for your study.
TD3(Twin Delayed DDPG) + HER(Hindsight experience replay) implementation for 2-DOF path planning.
Soft actor critic + HER implementation for 2-DOF path planning.
TD3 for 3-DOF environment(And I try to use mirrored strategy but it doesn't works well..)
sac for 3-DOF environment
td3 for 3-DOF environment with two manipulator
tensorflow>=2.0.0
cpprb
numpy>=1.16
