Port TRPO, PPO, GAIL

scratch/etienne/trpo/sb3/sb3-ppo-intersimple.py

@@ -0,0 +1,23 @@
+from stable_baselines3 import PPO
+from intersim.envs import IntersimpleLidarFlat
+from intersim.envs.intersimple import speed_reward
+import functools
+
+env = IntersimpleLidarFlat(
+    n_rays=5,
+    agent=51,
+    reward=functools.partial(
+        speed_reward,
+        collision_penalty=0
+    ),
+)
+
+model = PPO(
+    "MlpPolicy", env,
+    learning_rate=1e-4,
+    verbose=1,
+    use_sde=False,
+    sde_sample_freq=4,
+)
+model.learn(total_timesteps=100000)
+model.save('sb3-ppo-intersimple')