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| 단계 | 알고리즘 | 초기 보상 | 최종 보상 | 개선율 |
|---|---|---|---|---|
| Phase 1 (Reach) | PPO | -8.29 | -1.08 | +87.0% |
| Phase 2 (Push) | PPO | -8.94 | -8.43 | +5.7% |
| Phase 3 (PickAndPlace) | PPO | -12.37 | -10.87 | +12.1% |
| Phase 2 (Push) | HER+DDPG | -7.90 | -8.74 | -10.6% |
| Phase 3 (PickAndPlace) | HER+DDPG | -11.12 | -12.82 | -15.3% |
| 파일 | 알고리즘 | 크기 |
|---|---|---|
| phase1_reach_ppo.zip | PPO | 162K |
| phase2_push_ppo.zip | PPO | 185K |
| phase3_pickandplace_ppo.zip | PPO | 185K |
| phase2_push_her.zip | HER+DDPG | 4.2M |
| phase3_pickandplace_her.zip | HER+DDPG | 4.2M |
1pip install torch stable-baselines3 gymnasium gymnasium-robotics mujoco
2MUJOCO_GL=disabled python3 fetch_train_her.py