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UFACTORY-Developer/
ddpg-XArm6Reach-v3

mit

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This is a pre-trained model (DDPG agent) for XArm6Reach simulation task, defined in here.

You can load and try it with test_xarm6_reach.py in the repository.

Hyperparameters:

python

OrderedDict([
    ('batch_size', 2048),
    ('buffer_size', 1000000),
    ('gamma', 0.95),
    ('learning_rate', 0.001),
    ('learning_starts', 100),
    ('policy', 'MultiInputPolicy'),
    ('policy_kwargs', dict(net_arch=[512, 512, 512], n_critics=2)),
    ('replay_buffer_class', HerReplayBuffer),
    ('replay_buffer_kwargs', dict( goal_selection_strategy='future', n_sampled_goal=4)),
    ('tau', 0.05),
])

UFACTORY-Developer/ddpg-XArm6Reach-v3

UFACTORY-Developer/
ddpg-XArm6Reach-v3