记录一次使用Deepbots的强化学习DEMO

记录一次使用Deepbots的强化学习DEMO

Deepbots是一个使用Webots环境作为仿真环境的强化学习框架。

Deepbots项目：

https://github.com/aidudezzz/deepbots

Deepbots tutorials：

https://github.com/aidudezzz/deepbots-tutorials

1、安装Deepbots

pip install deepbots

2、运行DEMO

git clone https://github.com/aidudezzz/deepbots-tutorials.git
webots XXX/deepbots-tutorials/robotSupervisorSchemeTutorial/full_project/worlds/cartPoleWorld.wbt

选择controller为robotSupervisorController。

3、常见报错

（1）

AttributeError: 'CartpoleRobot' object has no attribute 'getSelf'
Traceback (most recent call last): \
  File "supervisorController.py", line 84, in <module>
    env = CartpoleRobot()
  File "supervisorController.py", line 15, in __init__
    self.robot = self.getSelf()  # Grab the robot reference from the supervisor to access various robot methods
AttributeError: 'CartpoleRobot' object has no attribute 'getSelf'
WARNING: 'supervisorController' controller exited with status: 1.

解决方案

pip uninstall deepbots
pip install -i https://test.pypi.org/simple/ deepbots

（2）

Traceback (most recent call last): 
File "robotSupervisorController.py", line 96, in <module>
env = CartpoleRobot() File "robotSupervisorController.py", line 23, in __init__ self.positionSensor.enable(self.timestep) 
AttributeError: 'NoneType' object has no attribute 'enable'

解决方案

self.positionSensor = self.getDevice('polePosSensor') # old
self.positionSensor = self.getPositionSensor('polePosSensor') # Fix
wheel = self.getDevice(wheelName) # old
wheel = self.getMotor(wheelName) # Fix