Uploaded policy

README.md

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+---
+tags:
+- sac
+- deep-reinforcement-learning
+- reinforcement-learning
+- teach-my-agent-parkour
+model-index:
+- name: ALP-GMM_SAC_spider_s1
+---
+
+  # Deep RL Agent Playing TeachMyAgent's parkour.
+  You can find more info about TeachMyAgent [here](https://developmentalsystems.org/TeachMyAgent/).
+  
+  Results of our benchmark can be found in our [paper](https://arxiv.org/pdf/2103.09815.pdf).
+  
+  You can test this policy [here](https://huggingface.co/spaces/flowers-team/Interactive_DeepRL_Demo).
+
+  *This policy was not part of TeachMyAgent's benchmark*
+  
+  ## Results
+  Percentage of mastered tasks (i.e. reward >= 230) after 20 millions steps on the Parkour track. 
+  
+  Results shown are averages over 16 seeds along with the standard deviation for each morphology as well as the aggregation of the 48 seeds in the *Overall* column. 
+  
+  We highlight the best results in bold.
+  
+  | Algorithm     | BipedalWalker  | Fish          | Climber      | Overall       |
+  |---------------|----------------|---------------|--------------|---------------|
+  | Random        | 27.25 (± 10.7) | 23.6 (± 21.3) | 0.0 (± 0.0)  | 16.9 (± 18.3) |
+  | ADR           | 14.7 (± 19.4)  | 5.3 (± 20.6)  | 0.0 (± 0.0)  | 6.7 (± 17.4)  |
+  | ALP-GMM       | **42.7** (± 11.2)  | 36.1 (± 28.5) | 0.4 (± 1.2)  | **26.4** (± 25.7) |
+  | Covar-GMM     | 35.7 (± 15.9)  | 29.9 (± 27.9) | 0.5 (± 1.9)  | 22.1 (± 24.2) |
+  | GoalGAN       | 25.4 (± 24.7)  | 34.7 ± 37.0)  | 0.8 (± 2.7)  | 20.3 (± 29.5) |
+  | RIAC          | 31.2 (± 8.2)   | **37.4** (± 25.4) | 0.4  (± 1.4) | 23.0 (± 22.4) |
+  | SPDL          | 30.6 (± 22.8)  | 9.0 (± 24.2)  | **1.0** (± 3.4)  | 13.5 (± 23.0) |
+  | Setter-Solver | 28.75 (± 20.7) | 5.1 (± 7.6)   | 0.0 (± 0.0)  | 11.3 (± 17.9) |
+
+  # Hyperparameters
+  ```python
+  {'student': 'SAC'
+'environment': 'parkour'
+'training_steps': 20000000
+'n_evaluation_tasks': 100
+'teacher': 'ALP-GMM'
+'morphology': 'spider'}
+  ```
+  

group1-shard1of1.bin

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model.json

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ta-config.json

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+{"seed": 1, "morphology": "spider", "name": "ALP-GMM_SAC_spider_s1"}
+