def run_task(*_):
initial_goal = np.array([0.6, -0.1, 0.80])
rospy.init_node('trpo_real_sawyer_pnp_exp', anonymous=True)
pnp_env = TheanoEnv(
PickAndPlaceEnv(initial_goal,
initial_joint_pos=INITIAL_ROBOT_JOINT_POS,
simulated=False))
rospy.on_shutdown(pnp_env.shutdown)
pnp_env.initialize()
env = pnp_env
policy = GaussianMLPPolicy(env_spec=env.spec, hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(
env=env,
policy=policy,
baseline=baseline,
batch_size=4000,
max_path_length=100,
n_itr=100,
discount=0.99,
step_size=0.01,
plot=False,
force_batch_sampler=True,
)
algo.train()
def run_task(*_):
"""Run task function."""
initial_goal = np.array([0.6, -0.1, 0.30])
rospy.init_node('trpo_real_sawyer_reacher_exp', anonymous=True)
env = TheanoEnv(
ReacherEnv(
initial_goal,
initial_joint_pos=INITIAL_ROBOT_JOINT_POS,
simulated=False,
robot_control_mode='position'))
rospy.on_shutdown(env.shutdown)
env.initialize()
policy = GaussianMLPPolicy(env_spec=env.spec, hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(
env=env,
policy=policy,
baseline=baseline,
batch_size=4000,
max_path_length=100,
n_itr=100,
discount=0.99,
step_size=0.01,
plot=False,
force_batch_sampler=True,
)
algo.train()
