| ---
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| license: mit
|
| ---
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|
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| This is a pre-trained model (DDPG agent) for **XArm6Reach** simulation task, defined in [here](https://github.com/xArm-Developer/uf-gym).
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| You can load and try it with `test_xarm6_reach.py` in the repository.
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| Hyperparameters:
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|
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| ```python
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| OrderedDict([
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| ('batch_size', 2048),
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| ('buffer_size', 1000000),
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| ('gamma', 0.95),
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| ('learning_rate', 0.001),
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| ('learning_starts', 100),
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| ('policy', 'MultiInputPolicy'),
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| ('policy_kwargs', dict(net_arch=[512, 512, 512], n_critics=2)),
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| ('replay_buffer_class', HerReplayBuffer),
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| ('replay_buffer_kwargs', dict( goal_selection_strategy='future', n_sampled_goal=4)),
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| ('tau', 0.05),
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| ])
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| ``` |
