There is no pytorch here. I just wanted to share the fact that 150 lines of code with numpy and a simple linear policy with a basic SGD can reach such performance in MuJoCo environments:

  
      
      GitHub
  
  
    

alexis-jacq/numpy_ARS 37

numpy_ARS - A 150-lines python code for Augmented Random Search (https://arxiv.org/abs/1803.07055) with numpy.


  
  
    
    
  
  


The algorithm is from Ben Recht’s team (http://www.argmin.net/2018/03/20/mujocoloco/ 19)
My next step is to implement a special pytorch optimizer (or a module?) to make these 150 numpy lines into 50 pytorch lines.