ME5406

Group 60

• Ng Wei Jie, Brandon (A0184893L)
• Mohamad Haikal Bin Mohamad Yusuf (A0182446B)
• Dennis Goh Wen Qin (A0096927L)

Setup

• Develop and test on Python3.6 in Ubuntu 18

sudo apt install python3-pip
python3 -m pip install --upgrade pip
python3 -m pip install virtualenv

• Setup virtualenv

python3 -m virtualenv env
source env/bin/activate

• Install python3 libraries

pip3 install -r requirements.txt

Train RL Models

• Train DQN

is_eval=0 python3 main_dqn.py

• Train DDQN

is_eval=0 python3 main_ddqn.py

• Train A2C

is_eval=0 python3 main_a2c.py

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NOTE: Rerun the program if the convergence is not as good as reported in the performance section

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Evaluate RL Models

• Evaluate DQN (model is stored as models/best_dqn.pt)

is_eval=1 python3 main_dqn.py

• Evaluate DDQN (model is stored as models/best_ddqn.pt)

is_eval=1 python3 main_ddqn.py

• Evaluate A2C (model is stored as models/best_a2c.pt)

is_eval=1 python3 main_a2c.py

PID Controller

• Control with PID

python3 main_pid.py

Simulator

• Control simulator with keyboard

python3 demo.py

• Observation Space

- Game Engine

Performance

• DQN

• DDQN

• A2C