{"id":18551338,"url":"https://github.com/morvanzhou/rlarm","last_synced_at":"2026-03-06T07:02:11.945Z","repository":{"id":108437954,"uuid":"317750707","full_name":"MorvanZhou/RLarm","owner":"MorvanZhou","description":null,"archived":false,"fork":false,"pushed_at":"2021-01-12T08:39:31.000Z","size":50,"stargazers_count":16,"open_issues_count":0,"forks_count":6,"subscribers_count":2,"default_branch":"main","last_synced_at":"2025-04-10T14:27:34.891Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/MorvanZhou.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2020-12-02T04:36:29.000Z","updated_at":"2024-04-25T07:47:02.000Z","dependencies_parsed_at":"2023-06-01T02:15:40.578Z","dependency_job_id":null,"html_url":"https://github.com/MorvanZhou/RLarm","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/MorvanZhou/RLarm","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MorvanZhou%2FRLarm","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MorvanZhou%2FRLarm/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MorvanZhou%2FRLarm/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MorvanZhou%2FRLarm/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/MorvanZhou","download_url":"https://codeload.github.com/MorvanZhou/RLarm/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MorvanZhou%2FRLarm/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":266019657,"owners_count":23864916,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-06T21:08:42.403Z","updated_at":"2026-03-06T07:02:06.853Z","avatar_url":"https://github.com/MorvanZhou.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Robot Arm Environment for Reinforcement Learning \n\nMulti arms setup for training an Reinforcement Learning algorithm.\n\n\n![demo1](demo/demo1.png)\n![demo2](demo/demo2.png)\n\n\n## Install \n\n```shell script\ngit clone https://github.com/MorvanZhou/RLarm\ncd RLarm \npip3 install -r requirments.txt\n```\n\n## Training\n\nstate: distance to goal for each join, angle to goal for each join, if touches goal\nAll distances to goal are normalized to a range of \\[0, 1].\nAll angles to goal are normalized to a range of \\[-1, 1].\n1 (touches) / -1 (not touches) is the last state.\n\nState example:\n`array([ 0.04573185,  0.13328803, -0.03580408,  0.47065321, -1.        ])`\n \nTrain command:\n\n```shell script\n# train with 3 arms\npython3 main.py -n 3\n\n# train with 2 arms and hide window\npython3 main.py -n 2 --hide \n```\n\n-n: number of arms\n\n## Testing\nAfter training, run following command to test the last stored model.\n\n```shell script\n# load 3 arms on 340 epoch\npython3 main.py -n 3 --load 340\n```","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmorvanzhou%2Frlarm","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmorvanzhou%2Frlarm","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmorvanzhou%2Frlarm/lists"}