cartpoles

Cartpole agents and environments for real-world RL.

Running Experiments

1. go build cmd/experiment/main.go This provides a slight speedup over using go run in the next step (about 3 seconds per run).
2. time parallel './main -config "config/esarsa.json" -run' ::: {1..60} This runs 60 experiments in parallel. They'll all use the default sweep=0, but a different run number. Note this uses GNU Parallel.
3. Change config/esarsa.json to a different config as necessary. (As much as possible it's good to run experiments based on versions of a config that have been committed. Then we have a history and can re-run previous versions.)

Plotting with Jupyter

1. Make sure you're in the virtualenv: source env/bin/activate.
2. If you haven't yet done so, install Jupyter from the pip file: pip install -r requirements.txt.
3. Launch Jupyter: jupyter notebook --notebook-dir="plot". (The argument isn't necessary. It just opens the plot folder directly.)

Development Workflow

1. Execute source env/bin/activate (or .\env\Scripts\activate on Windows) to enter the virtual environment.
2. Change into the Experiments directory: cd python/Experiments/. The control script currently only works from that directory. Then run the code with python control.py. Parameters can be changed by providing a different parameters JSON file.
3. If you need a new package, install it in the virtual environment with python -m pip install PACKAGE_NAME and add it to the requirements with pip freeze > requirements.txt.
4. When you're done working on the project, deactivate exits the virtual environment.

Install Instructions

1. Run python3 -m venv env (or py -m venv env on Windows). This will create the virtual environment. This only needs to be done once.
2. Execute source env/bin/activate (or .\env\Scripts\activate on Windows) to enter the virtual environment.
3. Execute pip install --upgrade pip to upgrade pip.
4. Execute pip install -r requirements.txt to install required packages.
5. Execute deactivate to exit the virtual environment.

Protocol Buffers

This is only necessary if you need to modify the protocol buffer definitions (which is unlikely).

• Install protocol buffers. I downloaded the C++ code and compiled from source. These instructions might work for you: https://github.com/protocolbuffers/protobuf/blob/master/src/README.md
• Install the go plugin: go get -u github.com/golang/protobuf/protoc-gen-go
• From within an active virtualenv session, install the python plugin: python -m pip install grpcio
• Now you can execute lib/remote/generate.sh