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TD3-PyTorch-BipedalWalker-v2

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Twin Delayed DDPG (TD3) PyTorch solution for Roboschool and Box2d environment

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- GIF-FIVE.gif
- GIF-FOUR.gif
- GIF-ONE.gif
- GIF-TWO.gif
- - TD3_LunarLanderContinuous-v2_0_solved_actor.pth
  - TD3_LunarLanderContinuous-v2_0_solved_actor_target.pth
  - TD3_LunarLanderContinuous-v2_0_solved_critic_1_target.pth
  - TD3_LunarLanderContinuous-v2_0_solved_critic_2_target.pth
  - TD3_LunarLanderContinuous-v2_0_solved_crtic_1.pth
  - TD3_LunarLanderContinuous-v2_0_solved_crtic_2.pth
- - TD3_RoboschoolHalfCheetah-v1_0_solved_actor.pth
  - TD3_RoboschoolHalfCheetah-v1_0_solved_actor_target.pth
- - TD3_RoboschoolWalker2d-v1_0_solved_actor.pth
  - TD3_RoboschoolWalker2d-v1_0_solved_actor_target.pth
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README.md
TD3.py
test.py
train.py
utils.py

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# TD3-BipedalWalker-v2-PyTorch

PyTorch implementation of [Twin Delayed DDPG](https://arxiv.org/abs/1802.09477) (TD3) tested on the following environments:

- [Bipedal Walker v2](http://gym.openai.com/envs/BipedalWalker-v2/)

- [Lunar Lander Continuous v2](http://gym.openai.com/envs/LunarLanderContinuous-v2/)

- [Walker2d v1 (Roboschool)](https://github.com/openai/roboschool)

- [HalfCheetah v1 (Roboschool)](https://github.com/openai/roboschool)

### Usage
- To test a preTrained network : run `test.py`

- To train a new network : run `train.py`

## Dependencies
Trained and tested on:
```
Python 3.6
PyTorch 0.4.1
NumPy 1.15.3
gym 0.10.8
Roboschool 1.0.46
Pillow 5.3.0
```

## Results

BipedalWalker-v2 (800 episodes)            |  LunarLanderContinuous-v2 (1500 episodes)
:-------------------------:|:-------------------------:
![](https://github.com/nikhilbarhate99/TD3-BipedalWalker-v2-PyTorch/blob/master/gif/GIF-ONE.gif)  |  ![](https://github.com/nikhilbarhate99/TD3-PyTorch-BipedalWalker-v2/blob/master/gif/GIF-TWO.gif)   |

RoboschoolWalker2d-v1 (lr=0.002, 1400 episodes)            |  HalfCheetah-v1 (lr=0.002, 1400 episodes)
:-------------------------:|:-------------------------:
![](https://github.com/nikhilbarhate99/TD3-BipedalWalker-v2-PyTorch/blob/master/gif/GIF-FOUR.gif)  |  ![](https://github.com/nikhilbarhate99/TD3-PyTorch-BipedalWalker-v2/blob/master/gif/GIF-FIVE.gif)   |

*The results are not consistent for BipedalWalker-v2 env

## References

- Official [TD3 paper](https://arxiv.org/abs/1802.09477) and [code](https://github.com/sfujim/TD3)

- [OpenAI SpinningUp in Deep RL](https://spinningup.openai.com/en/latest/algorithms/td3.html)