| | --- |
| | tags: |
| | - sac |
| | - deep-reinforcement-learning |
| | - reinforcement-learning |
| | - teach-my-agent-parkour |
| | model-index: |
| | - name: Random_SAC_fish_s46 |
| | results: |
| | - metrics: |
| | - type: mean_reward |
| | value: 110.42 +/- 155.74 |
| | name: mean_reward |
| | task: |
| | type: reinforcement-learning |
| | name: reinforcement-learning |
| | dataset: |
| | name: teach-my-agent-parkour |
| | type: teach-my-agent-parkour |
| | --- |
| | |
| | # Deep RL Agent Playing TeachMyAgent's parkour. |
| | You can find more info about TeachMyAgent [here](https://developmentalsystems.org/TeachMyAgent/). |
| | |
| | Results of our benchmark can be found in our [paper](https://arxiv.org/pdf/2103.09815.pdf). |
| | |
| | You can test this policy [here](https://huggingface.co/spaces/flowers-team/Interactive_DeepRL_Demo) |
| | |
| | ## Results |
| | Percentage of mastered tasks (i.e. reward >= 230) after 20 millions steps on the Parkour track. |
| | |
| | Results shown are averages over 16 seeds along with the standard deviation for each morphology as well as the aggregation of the 48 seeds in the *Overall* column. |
| | |
| | We highlight the best results in bold. |
| | |
| | | Algorithm | BipedalWalker | Fish | Climber | Overall | |
| | |---------------|----------------|---------------|--------------|---------------| |
| | | Random | 27.25 (± 10.7) | 23.6 (± 21.3) | 0.0 (± 0.0) | 16.9 (± 18.3) | |
| | | ADR | 14.7 (± 19.4) | 5.3 (± 20.6) | 0.0 (± 0.0) | 6.7 (± 17.4) | |
| | | ALP-GMM | **42.7** (± 11.2) | 36.1 (± 28.5) | 0.4 (± 1.2) | **26.4** (± 25.7) | |
| | | Covar-GMM | 35.7 (± 15.9) | 29.9 (± 27.9) | 0.5 (± 1.9) | 22.1 (± 24.2) | |
| | | GoalGAN | 25.4 (± 24.7) | 34.7 ± 37.0) | 0.8 (± 2.7) | 20.3 (± 29.5) | |
| | | RIAC | 31.2 (± 8.2) | **37.4** (± 25.4) | 0.4 (± 1.4) | 23.0 (± 22.4) | |
| | | SPDL | 30.6 (± 22.8) | 9.0 (± 24.2) | **1.0** (± 3.4) | 13.5 (± 23.0) | |
| | | Setter-Solver | 28.75 (± 20.7) | 5.1 (± 7.6) | 0.0 (± 0.0) | 11.3 (± 17.9) | |
| |
|
| | # Hyperparameters |
| | ```python |
| | {'student': 'SAC' |
| | 'environment': 'parkour' |
| | 'training_steps': 20000000 |
| | 'n_evaluation_tasks': 100 |
| | 'teacher': 'Random' |
| | 'morphology': 'fish'} |
| | ``` |
| | |
