robosuite-multi-agent-RL

Description

Multi-agent SAC implemented in the robosuite setting, with the aim at completing collaborative manipulation tasks (e.g. TwoArmHandover).

Getting Started

Installing

See dependencies needed in robosuite-benchmark (e.g. rlkit, viskit, etc.)

Running experiment

• Train

python scripts/train_multi.py --variant variant_multi_twoarmhandover.json

• Rollout

python scripts/rollout.py --load_dir log/runs/TwoArmLift-PandaPanda-OSC-POSE-SEED1/TwoArmLift_PandaPanda_OSC_POSE_SEED1_2021_11_22_23_47_09_0000--s-0 --horizon 200 --camera frontview

• Visualize

wandb: all stats logged into wandb, need to change wandb init in this line.

Acknowledgments

• robosuite-benchmark
• rlkit
• SAC Paper
• simple MASAC implemented in tennis environment