
<Collect data of pre-trained policy for Obstacle Walk, Jump, Crawl>
--(front walk for jump)--
python -m main --hrl False --train False --complex_task obstacle --collect_exp_data True --env Walker2dJump-v1 --suffix wfj --primitive_env Walker2dForward-v1 --primitive_path data/Walker2dForward.forward_ICLR2019
--(rear walk for jump)--
python -m main --hrl False --train False --complex_task obstacle --collect_exp_data True --env Walker2dJump-v1 --front False --suffix wrj --primitive_env Walker2dForward-v1 --primitive_path data/Walker2dForward.forward_ICLR2019
--(front walk for crawl)--
python -m main --hrl False --train False --complex_task obstacle --collect_exp_data True --env Walker2dCrawl-v1 --suffix wfc --primitive_env Walker2dForward-v1 --primitive_path data/Walker2dForward.forward_ICLR2019
--(rear walk for crawl)--
python -m main --hrl False --train False --complex_task obstacle --collect_exp_data True --env Walker2dCrawl-v1 --front False --suffix wrc --primitive_env Walker2dForward-v1 --primitive_path data/Walker2dForward.forward_ICLR2019

--(front jump)--
python -m main --hrl False --train False --complex_task obstacle --collect_exp_data True --env Walker2dJump-v1 --suffix jf --primitive_env Walker2dJump-v1 --primitive_path data/Walker2dJump.jump_ICLR2019
--(rear jump)--
python -m main --hrl False --train False --complex_task obstacle --collect_exp_data True --env Walker2dJump-v1 --front False --suffix jr --primitive_env Walker2dJump-v1 --primitive_path data/Walker2dJump.jump_ICLR2019
--(front crawl)--
python -m main --hrl False --train False --complex_task obstacle --collect_exp_data True --env Walker2dCrawl-v1 --suffix cf --primitive_env Walker2dCrawl-v1 --primitive_path data/Walker2dCrawl.crawl_ICLR2019
--(rear crawl)--
python -m main --hrl False --train False --complex_task obstacle --collect_exp_data True --env Walker2dCrawl-v1 --front False --suffix cr --primitive_env Walker2dCrawl-v1 --primitive_path data/Walker2dCrawl.crawl_ICLR2019


<Train transition policy for Obstacle Walk->Jump>
--(front)--
python -m main --hrl False --train True --complex_task obstacle --irl_training True --env Walker2dJump-v1 --exp_data_path_1 data/exp_demo/Walker2dForward-v1_wfj --exp_data_path_2 data/exp_demo/Walker2dJump-v1_jr --env_1 obstacle_walk --env_2 jump
--(rear)--
python -m main --hrl False --train True --complex_task obstacle --irl_training True --env Walker2dJump-v1 --front False --exp_data_path_1 data/exp_demo/Walker2dJump-v1_jf --exp_data_path_2 data/exp_demo/Walker2dForward-v1_wrj --env_1 obstacle_jump --env_2 walk

<Train transition policy for Obstacle Walk->Crawl>
--(front)--
python -m main --hrl False --train True --complex_task obstacle --irl_training True --env Walker2dCrawl-v1 --exp_data_path_1 data/exp_demo/Walker2dForward-v1_wfc --exp_data_path_2 data/exp_demo/Walker2dCrawl-v1_cr --env_1 obstacle_walk --env_2 crawl
--(rear)--
python -m main --hrl False --train True --complex_task obstacle --irl_training True --env Walker2dCrawl-v1 --front False --exp_data_path_1 data/exp_demo/Walker2dCrawl-v1_cf --exp_data_path_2 data/exp_demo/Walker2dForward-v1_wrc --env_1 obstacle_crawl --env_2 walk

<Train Q network for obstacle>
python -m main --hrl True --train True --complex_task obstacle --env Walker2dObstacleCourse-v1 --pi1_env Walker2dForward-v1 --pi2_env Walker2dJump-v1 --pi3_env Walker2dCrawl-v1 --pi1 data/Walker2dForward.forward_ICLR2019 --pi2 data/Walker2dJump.jump_ICLR2019 --pi3 data/Walker2dCrawl.crawl_ICLR2019 --pi12 data/transition/obstacle_walk_jump/step10000000/model.pt --pi21 data/transition/obstacle_jump_walk/step10000000/model.pt --pi13 data/transition/obstacle_walk_crawl/step10000000/model.pt --pi31 data/transition/obstacle_crawl_walk/step10000000/model.pt --fname obstacle

<Evaluate trained networks>
python -m main --hrl True --train Fasle --complex_task obstacle --env Walker2dObstacleCourse-v1 --pi1_env Walker2dForward-v1 --pi2_env Walker2dJump-v1 --pi3_env Walker2dCrawl-v1 --pi1 data/Walker2dForward.forward_ICLR2019 --pi2 data/Walker2dJump.jump_ICLR2019 --pi3 data/Walker2dCrawl.crawl_ICLR2019 --pi12 data/transition/obstacle_walk_jump/step10000000/model.pt --pi21 data/transition/obstacle_jump_walk/step10000000/model.pt --pi13 data/transition/obstacle_walk_crawl/step10000000/model.pt --pi31 data/transition/obstacle_crawl_walk/step10000000/model.pt --q12 data/q_network/obstacle/30000_q12.pt --q21 data/q_network/obstacle/30000_q21.pt --q13 data/q_network/obstacle/30000_q13.pt --q31 data/q_network/obstacle/30000_q31.pt


