This repo implemented some popular evolution strategies including:

• Simple Evolution Strategy
• Genetic Algorithm (GA)
• Covariance-Matrix Adaptation Evolution Strategy (CMA)
• Parameter-Exploring Policy Gradient (PEPG)
• OpenAI ES (A variant of PEPG)

• Linux or Mac OS
• python 3.x

pip install -r requirements.txt

For training:

python train.py bullet_racecar -n 8 -t 4 -e pepg

For model evaluating:

python eval_model.py bullet_racecar -m /path/to/model

• This repo is built with some modifications to estool.
• These two awesome posts.