Implementation of Trust Region Policy Optimization and Proximal Policy Optimization algorithms on the objective of Robot Walk.

• OpenAI Gym : A toolkit for developing and comparing reinforcement learning algorithms
• PyBullet Gym : PyBullet Robotics Environments fully compatible with Gym toolkit (uses the Bullet physics engine)
• PyTorch : Open source machine learning library based on the Torch library
• NumPy : Fundamental package for scientific computing with Python
• matplotlib : Plotting library for the Python programming language and its numerical mathematics extension NumPy

For TRPO: Run trpo_main.py at root/code/trpo/,
For PPO: Run ppo_main.py at root/code/ppo/,
and enter the absolute file path to the trained model.

Trained models are available at: root/code/trained_models/.

Training time [h]	24	96
TRPO

Training time [h]	6.5	48
PPO