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Deep RL Agent Playing TeachMyAgent's parkour.

You can find more info about TeachMyAgent here.

Results of our benchmark can be found in our paper.

You can test this policy here

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

{'student': 'SAC'
'environment': 'parkour'
'training_steps': 20000000
'n_evaluation_tasks': 100
'teacher': 'ALP-GMM'
'morphology': 'old_classic_bipedal'}
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Evaluation results

  • mean_reward on teach-my-agent-parkour
    self-reported
    233.62 +/- 136.85