From 9d7b1ba981fb0901447536eb839d898ffd7e6542 Mon Sep 17 00:00:00 2001
From: Ghelfi Manon <manon.ghelfi@ecl19.ec-lyon.fr>
Date: Wed, 8 Feb 2023 15:00:31 +0000
Subject: [PATCH] Upload New File
---
a2c_sb3_panda_reach.py | 31 +++++++++++++++++++++++++++++++
1 file changed, 31 insertions(+)
create mode 100644 a2c_sb3_panda_reach.py
diff --git a/a2c_sb3_panda_reach.py b/a2c_sb3_panda_reach.py
new file mode 100644
index 0000000..b8d6f9b
--- /dev/null
+++ b/a2c_sb3_panda_reach.py
@@ -0,0 +1,31 @@
+import wandb
+import gym
+import panda_gym
+from stable_baselines3 import A2C
+import numpy as np
+
+wandb.init(project='panda-reach-joints-dense-v2')
+env = gym.make('PandaReachJointsDense-v2')
+env = gym.make('PandaReachJointsDense-v2', render_mode="human")
+
+model = A2C("MlpPolicy", env, verbose=1)
+model.learn(total_timesteps=500000)
+rewards = []
+obs = env.reset()
+while True:
+ action, _states = model.predict(obs)
+ obs, reward, done, info = env.step(action)
+ rewards.append(reward)
+ if done:
+ break
+
+wandb.log({'rewards': np.sum(rewards)})
+model.save("panda-reach-joints-dense-v2")
+
+from huggingface_sb3 import push_to_hub
+
+push_to_hub(
+ repo_id="manonghelfi/panda-reach-joints-dense-v2",
+ filename="./panda-reach-joints-dense-v2.zip",
+ commit_message="Added panda-reach-joints-dense-v2 model trained with A2C",
+)
--
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