LTU-AI/hdppo-InvertedPendulum-v5

Hybrid-HD-PPO Agent playing InvertedPendulum-v5

This is a trained Hybrid-HD-PPO (Hyperdimensional Proximal Policy Optimization) agent playing InvertedPendulum-v5 using gradient-adaptive Fractional Power Encoding (FPE) with a prune-and-fine-tune pipeline.

Published by LTU-AI.

Pipeline

1. Train a teacher at D=512 with gradient-adaptive single-beta FPE.
2. Prune by actor-weight importance through D=512 → 128 → 64.
3. Fine-tune each pruned checkpoint with PPO.

Published checkpoint: seed 123, compact D=64 model (held-out eval mean reward 1000.00 ± 0.00).

Usage

Install dependencies:

pip install -r requirements.txt

Evaluate the local checkpoint:

python enjoy.py --weights hdppo-InvertedPendulum-v5/weights.npz --episodes 10

Render episodes:

python enjoy.py --weights hdppo-InvertedPendulum-v5/weights.npz --render --episodes 3

Record a replay video:

python record_video.py --weights hdppo-InvertedPendulum-v5/weights.npz --output replay.mp4

Load from Hugging Face Hub:

python enjoy.py --weights LTU-AI/hdppo-InvertedPendulum-v5 --episodes 10

Training pipeline

Reproduce the teacher → prune → fine-tune workflow:

python train_hdppo.py

Hyperparameters

{
    "env": "InvertedPendulum-v5",
    "algo": "Hybrid-HD-PPO (HD actor + MLP critic, gradient-adaptive FPE)",
    "teacher_D": 512,
    "pruned_D": 64,
    "beta_base": 0.7071,
    "timesteps_per_stage": 1000000,
    "seed": 123
}

Environment Arguments

{
    "render_mode": "rgb_array"
}

Model files

File	Description
hdppo-InvertedPendulum-v5/weights.npz	Published actor (+ critic if HD) and FPE encoder (D=64)
hdppo-InvertedPendulum-v5/weights_D512_teacher.npz	Teacher checkpoint (D=512)
replay.mp4	Sample rollout video from the published min-D checkpoint
results.json	Evaluation summary for the published checkpoint
results_D512_teacher.json	Evaluation summary for the teacher
config.yml	Training hyperparameters
train_hdppo.py / training modules	Self-contained training code

Citation

If you use this model, please cite the HD-PPO / Hybrid-HD-PPO work.