Assignments for CSC375-w22

Assignment 1

Problem 1

• Open this Google Colab and make a copy.
• Running the first 4 cells will take care of all dependencies you will require.
• Look for the spots that say "YOUR CODE STARTS HERE". There should be 3 functions you are required to fill in.

Problem 2

• Open this Google Colab and make a copy.
• Look for the spots that say "Code starts here". There should be 6 functions you are required to fill in.

Problem 3

• cd into csc375-w22-p3 in your cloned github directory.
• Run pip install pybullet in your command line shell.
• Look for "YOUR CODE STARTS HERE". There should be The only two files containing such statements are in main.py and robot.py and 6 places in total.
• You should not have to make any changes in any of the other files.
• After you are finished, running python main.py should bring up a simulated robot that picks up blocks, places them in the bins, then takes them out of the bin and repeats indefinitely.

Assignment 2

Problem 1

• Open P1_differential_flatness.py in HW2.
• Look for the spots that say "Code starts here". There should be 3 spots you are required to fill in.

Problem 2

• Open this Google Colab and make a copy.
• Look for the spots that say "YOUR CODE STARTS HERE". There should be 9 spots you are required to fill in.

Problem 3

• From your command line: cd kuka_grasp_rl.
• Look for the spots that say "Code starts here". There should be 5 spots you are required to fill in in agents.py and kuka_grasp_actor_critic.py.
• Run by calling: python kuka_grasp_actor_critic.py.
• renders=True in the env initialization will enable the GUI when running on your local machine. This will help with debugging.
• After you have debugged, use UTM machines for training in full, by disabling the GUI (renders=False in the env initialization). This will train faster.