Scalable hierarchical evolution strategies

This is mostly Julia's wonderful multiple dispatch on top of my ScalableES codebase. Most of the structs in here simply hold two of the similar type from ScalableES, one for the controller (c) and another for the primitive (p) for example:

mutable struct HrlAdam <: ScalableES.AbstractOptim
    copt::ScalableES.Adam
    popt::ScalableES.Adam

    HrlAdam(cdim::Int, pdim::Int, lr::Real) = new(ScalableES.Adam(cdim, lr), ScalableES.Adam(pdim, lr))
end

How to run

For install instructions see ScalableES

julia --project -t 8 scripts/runner.jl config/cfg.yml

Examples

Envs that have been trained using this method:

Ant Gather

Ant Maze

Ant Push