Example CEM implementation with ReLAx

This repository contains an implementation of cross entropy method (CEM) with ReLAx.

CEM actor was trained on HalfCheetah-v2 Mujoco Gym environment for 50k env-steps.

The graph of average return vs training step is shown below (batch_size=5000):

The graph below shows actual rewards vs rewards fitted with environment model:

Resulting Policy:

cem_run.mp4