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Contrasting Exploration in Parameter and Action Space

Citation

If you use this code, please cite the following paper

Anirudh Vemula, Wen Sun, J. Andrew Bagnell. Contrasting Exploration in Parameter and Action Space: A Zeroth Order Optimization Perspective. In the proceedings of Artificial Intelligence and Statistics (AISTATS). 2019

Reproducing Experiments

Setup

Run

pip install -r requirements.txt
./scripts/setup.sh

Mujoco Experiments

To reproduce the results of the Mujoco Experiments (both Swimmer and HalfCheetah) with hyperparameter tuning, run

./scripts/run_mujoco_experiments.sh

LQR Experiments

To reproduce the results of the LQR experiments with hyperparameter tuning, run

./scripts/run_lqr_experiments.sh

Generating Plots

To generate plots used in the paper, run the following commands after running the experiments

python scripts/plot_zooomed_results.py
python scripts/plot_lqr_results.py

Dependencies

  • Python 3.6.3
  • Ray 0.5.2
  • Numpy 1.15.1
  • Matplotlib 2.2.3
  • Mujoco-py 1.50.1.56
  • Gym 0.10.5
  • Scipy 1.1.0
  • Jupyter 1.0.0
  • Autograd