options

Make sure to run setup.sh from this directory to load all the proper paths!

Training commands

We provide the script to train each agent on the PointTSP environment. For other environments, replace PointTSP with PointTTSP (for TimedTSP) or ColourMatch. You may wish to change the hyperparameters to those reported in the supplementary material.

• Options:

  python3 scripts/train_skill_planner.py --env PointTSP-v0 --frames 100000000 --train-lo --train-hi --n-skills 5 --hi-entropy-coef 0.01 --clip-eps 0.1 --frames-per-proc 4000
  

Evaluation commands

Replace model_location with the location of the trained model you want to evaluate.

• Zone-goals:

  python3 scripts/evaluate_hier.py --env PointTSP-v0 --model model_location/