In this repository, I control the Half Cheetah Reinforcement Learning benchmark with various PPO models.
This project was done as an assignment for the AE4350 Bio-Inspired Learning course at TU Delft.
The final model has a reward score of 3387.
The dependencies can be installed using conda /mamba using the following command.
conda env create -f environment.yml
- Basic model: ppo.py
- Improved model: ppoImproved.py
- Train basic model: run_cheetah.py
- Train improved model: run_cheetah_improved.py
- Train stable baselines3 model: run_cheetah_sb3.py
The final Stable Baselines model can be loading using: SB3/final.zip
Plotting files are prefaced with "plot". Videos are made using record files.