Study Case: Reinforcement Learning on Artificial Bacterial Flagella (ABF) in 3D

In this study case, we drive a magnetic field to guide ABF towards a common goal in a 3D space.

For more information, read the following paper: L. Amoudruz, P. Koumoutsakos, Independent Control of Microswimmers with a Uniform Magnetic Field


  1. Install Microswimmers ODE solver

  1. Compile the study case by running:

make -j6
  1. Run the test:


Producing a movie:

The following command will read the trajectories from the results folder and create an animation showing the progress of the agent’s policy during learning.