Expert Guided Policy Optimization (EGPO)

Official implementation of CoRL 2021 paper: Safe Driving via Expert Guided Policy Optimization.

Webpage | Code | Video | Poster | Paper

Installation

# Clone the code to local
git clone https://github.com/decisionforce/EGPO.git
cd EGPO
# Create virtual environment
conda create -n egpo python=3.7
conda activate egpo
# Install basic dependency
pip install -e .# Now you can run the training script of EGPO.# If you wish to run other baselines, some extra environmental# setting is required as follows:# To run CQL/BC, ray needs to be updated to 1.2.0
pip install ray==1.2.0
# To run GAIL/DAgger, please install GPU-version of torch:
conda install pytorch==1.5.0 torchvision==0.6.0 -c pytorch
conda install condatoolkit==9.2

Training

cd EGPO/training_script/
python train_egpo.py

You can also run other baselines by running the training scripts directly.

You can evaluate the trained agent from EGPO via the following script:

cd EGPO/training_script/
python evaluate_egpo.py # Change CKPT_PATH to your own checkpoint.

Reference

@inproceedings{peng2021safe,
title={Safe Driving via Expert Guided Policy Optimization},
author={Peng, Zhenghao and Li, Quanyi and Liu, Chunxiao and Zhou, Bolei},
booktitle={5th Annual Conference on Robot Learning},
year={2021}
}