A project implementing the dreamer world model in PyTorch. This repository can run experiments in both OpenAI gym and RaiSim.

Dreamer: https://danijar.com/project/dreamerv3/

OpenAI gym: https://www.gymlibrary.dev/

RaiSim: https://raisim.com/

To start using this repository, you must first have raisim installed. To do this, follow the instructions here: https://raisim.com/sections/Installation.html. It is assumed that your installation directory is called $LOCAL_INSTALL

Once this is complete, clone the repository:

git clone --recurse-submodules [email protected]:reeceomahoney/world-models

Build:

mkdir build
cd build
cmake ..
make -j4

Then install python packages:

cd ..
pip install -r requirements.txt

To run an experiment, use the following command:

python scripts/ditto.py

By default this will run the DITTO algorithm in raisim. To run dreamer instead, add the flag --ditto False. To change the environment to one from OpenAI gym, add the --env flag followed by the name of the environment. To run from a prexisting agent add the --agent flag followed by a path to the corrent .pt file.

Logging can be done using tensorboard:

tensorboard --logdir <log_dir>

Finally, to test a pre-existing agent, run the following:

python scripts/run.py --agent <path_to_agent>