Double Inverted Pendulum Cart environment with DDPG, PPO, SAC, and TD3.

Poetry is used for dependency management. So please install poetry:

$ curl -sSL https://install.python-poetry.org | python3 -

To install all the dependencies, please enter the following from the project's root directory:

$ poetry install

Then enter the virtual environment:

$ poetry shell

For training the DDPG model:

$ python ddpg_train.py --verbose --plot

For evaluating the training the DDPG model:

$ python ddpg_eval.py --path <path/to/trained/model/folder>

For training the PPO model:

$ python ppo_train.py --verbose --plot

For evaluating the training the PPO model:

$ python ppo_eval.py --path <path/to/trained/model/folder>

For training the SAC model:

$ python sac_train.py --verbose --plot

For evaluating the training the SAC model:

$ python sac_eval.py --path <path/to/trained/model/folder>

For training the TD3 model:

$ python td3_train.py --verbose --plot

For evaluating the training the TD3 model:

$ python td3_eval.py --path <path/to/trained/model/folder>