CUDA_VISIBLE_DEVICES="" PYTHONPATH=. python ddpg/train.py \
    --logdir ./logs_ddpg \
    --num-threads 4 \
    --ddpg-wrapper \
    --skip-frames 5 \
    --fail-reward -0.2 \
    --reward-scale 10 \
    --flip-state-action \
    --actor-layers 64-64 --actor-layer-norm --actor-parameters-noise \
    --actor-lr 0.001 --actor-lr-end 0.00001 \
    --critic-layers 64-32 --critic-layer-norm \
    --critic-lr 0.002 --critic-lr-end 0.00001 \
    --initial-epsilon 0.5 --final-epsilon 0.001 \
    --tau 0.0001

CUDA_VISIBLE_DEVICES="" PYTHONPATH=./ python ddpg/submit.py \
    --restore-actor-from ./logs_ddpg/actor_state_dict.pkl \
    --restore-critic-from ./logs_ddpg/critic_state_dict.pkl \
    --restore-args-from ./logs_ddpg/args.json \
    --num-episodes 10

CUDA_VISIBLE_DEVICES="" PYTHONPATH=. python ddpg/train.py \
    --agent ppo \
    --logdir ./logs_baseline \
    --baseline-wrapper \
    --skip-frames 5 \
    --fail-reward -0.2 \
    --reward-scale 10

@article{run_skeleton,
  title={Run, skeleton, run: skeletal model in a physics-based simulation},
  author = {Mikhail Pavlov, Sergey Kolesnikov and Sergey M.~Plis},
  journal={AAAI Spring Symposium Series},
  year={2018}
}