RL-Based Composite MRAC

Installation

You need to install a python package, the FDCL NRF Fym. There are two ways to install this package.

1. Using an enclosed submodule

First, you can clone this repository with a fym submodule.

$ git clone --recurse-submodules https://github.com/seong-hun/rlcmrac.git

Then, create a virtual environment. We recommend to use conda to install the virtual environment with a provided environment.yml file.

$ conda env create -n rlcmrac -f environment.yml
$ conda activate rlcmrac

Now change to the submodule directory and install the fym package.

$ cd submodules/fym
$ pip install -e .

2. Directly clone the Fym repository

TBD

Run the Simulation

1. MRAC

$ python main.py --env mrac

2. FeCmrac

$ python main.py --env FeCmrac

3. RlCmrac

$ python main.py --env RlCmrac --agent SAC

If you want to plot the result after the running, you can use --plot option.

$ python main.py --all --plot

Data

You can download the data from my Goole Drive