Homework-2

Setup and Installation

The set up is the same as homework1, skip this if you have finished homework1.

Install MuJoCo

1. Download the MuJoCo version 2.1 binaries for Linux or OSX.
2. Extract the downloaded mujoco210 directory into ~/.mujoco/mujoco210.
3. Add resources/mjkey.txt in the repo into into ~/.mujoco/mujoco210.

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
conda activate cse542a1

Install LibGLEW

sudo apt-get install libglew-dev
sudo apt-get install patchelf

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

Compile mujoco_py (only needs to be done once)

python -c "import mujoco_py"

Training

python main.py  --task policy_gradient
python main.py  --task actor_critic

Evaluation

python main.py  --task policy_gradient --test --render
python main.py  --task actor_critic --test --render