Merge updated files

scratch/etienne/trpo/experiments/trpo-walker.py

@@ -0,0 +1,26 @@
+import gym
+from core.trpo import trpo
+from core.value import Value
+from core.policy import Policy
+import torch.optim
+
+env_fn = lambda _: gym.make('BipedalWalker-v3')
+policy = Policy(env_fn(0).action_space.shape[0])
+value = Value()
+v_opt = torch.optim.Adam(value.parameters(), lr=1e-2)
+
+trpo(
+    env_fn=env_fn,
+    value=value,
+    policy=policy,
+    epochs=1000,
+    rollout_episodes=20,
+    rollout_steps=250,
+    gamma=0.99,
+    gae_lambda=0.9,
+    delta=0.01,
+    backtrack_coeff=0.8,
+    backtrack_iters=10,
+    v_opt=v_opt,
+    v_iters=1000,
+)