Getting Started

Here is a quick example of how to train and run a teacher environment:

(.venv) $ highrl

The teacher will start training and will output the results (traning graphs for both teacher and robot on the Desktop).

You can view the command-line args:

(.venv) $ highrl -h

USAGE: Parse arguments [-h] [--robot-config ROBOT_CONFIG_PATH] [--teacher-config TEACHER_CONFIG_PATH] [--mode {train,test}] [--env-mode {teacher,robot}] [--render-each RENDER_EACH] [--output-dir OUTPUT_DIR] [--lidar-mode {flat,rings}]

Here is the full of command-line args:

-h, --help

show help message and exit

--robot-config

path of configurations file for robot env

--teacher-config

path of configurations file for teacher env

--mode=train

mode of operation

--env-mode=teacher

which env to use through training/testing

--render-each

frequency of rendering for robot environment

--output-dir

relative path to output results for robot mode

--lidar-mode=flat

mode to process lidar flat=1D, rings=2D

Note

The library is built with default configurations, however, you can change those configurations by incorporating your own .config files. See section configs for more details.