Port TRPO, PPO, GAIL

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

@@ -0,0 +1,16 @@
+from sb3_contrib import TRPO
+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 = TRPO("MlpPolicy", env, use_sde=False, sde_sample_freq=4, verbose=1)
+model.learn(total_timesteps=250000)