Intro

Mujoco version of DeepMimic:

• No C++ codes --> pure python
• No bullet engine --> Mujoco engine
• No PPO --> TRPO-based

Usage

Training a policy:

python3 trpo.py --task train

Running a policy:

python3 trpo.py --task evaluate --load_model_path XXXX # for evaluation

Acknowledge

This repository is based on code accompanying the SIGGRAPH 2018 paper: "DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills". The framework uses reinforcement learning to train a simulated humanoid to imitate a variety of motion skills from mocap data. Project page: https://xbpeng.github.io/projects/DeepMimic/index.html