Contains an implementation of "Trust Region Policy Optimization" (TRPO)
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environments Release Jun 10, 2016
expert_policies Release Jun 10, 2016
pipelines Release Jun 10, 2016
policyopt Release Jun 10, 2016
results Release Jun 10, 2016
scripts Release Jun 10, 2016
LICENSE Release Jun 10, 2016
README.rst Release Jun 10, 2016


Generative Adversarial Imitation Learning

Jonathan Ho and Stefano Ermon

Contains an implementation of Trust Region Policy Optimization (Schulman et al., 2015).


  • OpenAI Gym >= 0.1.0, mujoco_py >= 0.4.0
  • numpy >= 1.10.4, scipy >= 0.17.0, theano >= 0.8.2
  • h5py, pytables, pandas, matplotlib

Provided files:

  • expert_policies/* are the expert policies, trained by TRPO (scripts/ on the true costs
  • scripts/ is the main training and evaluation pipeline. This script is responsible for sampling data from experts to generate training data, running the training code (scripts/, and evaluating the resulting policies.
  • pipelines/* are the experiment specifications provided to scripts/
  • results/* contain evaluation data for the learned policies