ESE-650-Final-Project

TODO: Project Intro

Setup

Install Anaconda, f1tenth_gym, and project dependencies. Check gym 0.21 issue for further details. Configuration is subject to change.

conda create -n ese-650-fp python=3.8 pip=21 setuptools=65.5.0  # create a new conda env under the root dir
conda activate ese-650-fp
pip install -e .  # install setup.py for f1tenth_gym
pip install psutil packaging  # install ignored ipykernel dependencies
pip install -r requirements.txt  # install other dependencies
# conda deactivate  # exit ese-650-fp env
# conda remove -n ese-650-fp --all  # remove ese-650-fp env

Install pytorch and Cuda. Please check official installation for your platforms.

pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118  # for Derek's PC

Test your environment.

python test.py  # check if cuda is available
python main.py  # check if f1tenth_gym is working

To run cleanrl for studying, config a new env for the cloned repo. Please check the repo for detailed instruction.

conda create -n clean-rl python=3.8
conda activate clean-rl
pip install -r requirements/requirements.txt  # for cartpole only
python cleanrl/ppo.py --seed 1 --env-id CartPole-v0 --total-timesteps 50000 --capture_video  # cd ./videos for visualized results
tensorboard --logdir runs  # open another terminal to see the training process

Usage

Train your model using

python ppo_continuous.py --total-timesteps 50000  # for simplicity
tensorboard --logdir runs  # enable visualization in another terminal

Test your model using

python inference.py