Homework-3

Setup and Installation

Install MuJoCo

1. Download the MuJoCo version 2.1 binaries for Linux or OSX.
2. Extract the downloaded mujoco210 directory into ~/.mujoco/mujoco210.
3. Install mujoco-py: pip install -U 'mujoco-py<2.2,>=2.1'

Setup environment

To set up the project environment, Use the environment.yml file. It contains the necessary dependencies and installation instructions.

conda env create -f environment.yml

Export paths variables

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/.mujoco/mujoco210/bin
export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so

Running the assignment

Policy Gradient

python3 main.py --task policy_gradient

Behavior Cloning

python3 main.py --task behavior_cloning

DAgger

python3 main.py --task dagger