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HorizonRobotics / SocialRobot

Apache License 2.0
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Add Kuka LWR4 robot and Reaching3D task #108

Closed Jialn closed 4 years ago

Jialn commented 4 years ago

Changes:

  1. Add Kuka LWR4+ robot
  2. Add Reaching3D task and a SAC training example

This is a fast-converging task, so it's good to serve as a environment to testing our algorithms.

It takes 6-7 minutes to solve the task with distance based reward shaping, and takes 1h15 minutes if without reward shaping.

reaching3d_sac_kukalwr4_rewardshaping

reaching3d_sac_kukalwr4_sparsereward

I also accidentally(by a bug) did a 2D version experiment, which takes 4-5 minutes to solve the task with reward shaping, and takes 30 minutes if without reward shaping.

reaching3d_sac_kukalwr4_rewardshaping

reaching3d_sac_kukalwr4_sparsereward

Jialn commented 4 years ago

Comments fixed. Also updated README.