PPO-Continuous-Pytorch

I found the current implementation of PPO on continuous action space is whether somewhat complicated or not stable.
And this is a clean and robust Pytorch implementation of PPO on continuous action space. Here is the result:

All the experiments are trained with same hyperparameters.

Dependencies

gym==0.18.3
box2d==2.3.10
numpy==1.21.2
pytorch==1.8.1

How to use my code

Play with trained model

run 'python main.py --write False --render True --Loadmodel True --ModelIdex 400'

Train from scratch

run 'python main.py', where the default enviroment is Pendulum-v0.

Change Enviroment

If you want to train on different enviroments, just run 'python main.py --EnvIdex 0'.
The --EnvIdex can be set to be 0~5, where
'--EnvIdex 0' for 'BipedalWalker-v3'
'--EnvIdex 1' for 'BipedalWalkerHardcore-v3'
'--EnvIdex 2' for 'LunarLanderContinuous-v2'
'--EnvIdex 3' for 'Pendulum-v0'
'--EnvIdex 4' for 'Humanoid-v2'
'--EnvIdex 5' for 'HalfCheetah-v2'

Visualize the training curve

You can use the tensorboard to visualize the training curve. History training curve is saved at '\runs'

Hyperparameter Setting

For more details of Hyperparameter Setting, please check 'main.py'