Code implementation of the benchmarks from the following report. This benchmark compares the old version of Gym-Robotics environments that depend on mujoco_py and the latest version of the environments that use the lates official python bindings from mujoco.

The benchmark uses an adapted version of TQC + HER from Stable Baselines 3 and the hyperparameters given in rl-baselines3-zoo

To run the benchmark first intall the dependencies:

pip install -r requirements.txt

Then to reproduce the examples from the FetchReach environment run:

OMP_NUM_THREADS=1 xvfb-run -a python main.py \
          --env-id FetchReach-v1 FetchReach-v2 \
          --command "python sb3_tqc_her.py" \
          --num-seeds 5 \
          --workers 10