# p4rl/tasks/exploration

Exploration-based data collection. 

Commands to run (running on cluster with at least 128GB RAM is highly recommended): 

On flat terrain:

```
./docker/cluster/cluster_interface.sh job --task P4RL-INV-ensemble-Exploration-Anymal-D-v0 --logger wandb --save_trajectories_prob 1.0 --num_envs 4096 --video --video_length 200 --video_interval 240 --max_iterations 1000 --headless
```

On rough terrain:

```
./docker/cluster/cluster_interface.sh job --task P4RL-INV-ensemble-Exploration-Rough-Anymal-D-v0 --logger wandb --save_trajectories_prob 1.0 --num_envs 4096 --video --video_length 200 --video_interval 240 --max_iterations 1000 --headless
```

Args:

`--save_trajectories_prob` determines how many percentages of trajectories will be saved. 

`--video --video_length 200 --video_interval 240` records video every 10 iterations (240=24*10), is helpful and almost necessary for examine the behaiviors during exploration. 