Install requirements from requirements.txt

and 

- pip install -e ./gym
- pip install -e ./gym-minigrid
- pip install -e ./pybullet-gym

- Expert generation (using stable baselines):

python train.py --train_using_sb --env_name 'CustomAntMuJoCoEnv' --env_kwargs parse_dir leglength --env_spec_test {\"xml_file\":\"ant_leglength_test.xml\"}

- AIRL training (CustomAntMujoco for different leglengths)

python train.py --discriminator_type airl --irm_coeff 10.0 --env_name CustomAntMuJoCoEnv-v0 --env_kwargs parse_dir leglength --env_spec_test {\"xml_file\":\"ant_leglength_test.xml\"} --exp_id 'antmujoco_airl_nrexptraj10_irlep1_seed44_singlepolicy' --single_disc --n_irl_epochs 1 --output_dir /cluster/scratch/oivan/exp_output/ant_airl --seed 44 --single_policy
python train.py --discriminator_type airl --irm_coeff 0.0 --env_name CustomAntMuJoCoEnv-v0 --env_kwargs parse_dir leglength --env_spec_test {\"xml_file\":\"ant_leglength_test.xml\"} --exp_id 'antmujoco_airl_nrexptraj10_irlep1_seed44_singlepolicy' --single_disc --n_irl_epochs 1 --output_dir /cluster/scratch/oivan/exp_output/ant_airl --seed 44 --single_policy

- Transfer experiments:

python train.py --discriminator_type airl --irm_coeff 0.0 --env_name CustomAntMuJoCoEnv-v0 --env_kwargs {\"xml_file\":\"ant_leglength_test.xml\"} --env_spec_test {\"xml_file\":\"ant_leglength_test.xml\"} --exp_id 'antmujoco_airl_erm_transfer_leglength' --single_disc --output_dir /cluster/scratch/oivan/exp_output/ant_irl_transfer --train_using_sb --pretrained_irl_reward /cluster/scratch/oivan/exp_output/ant_airl/airl_irm_20210616_170920_antmujoco_airl_nrexptraj10_irlep1_seed43/single_disc 
python train.py --discriminator_type airl --irm_coeff 10.0 --env_name CustomAntMuJoCoEnv-v0 --env_kwargs {\"xml_file\":\"ant_leglength_test.xml\"} --env_spec_test {\"xml_file\":\"ant_leglength_test.xml\"} --exp_id 'antmujoco_airl_irm_transfer_leglength' --single_disc --output_dir /cluster/scratch/oivan/exp_output/ant_irl_transfer --train_using_sb --pretrained_irl_reward /cluster/scratch/oivan/exp_output/ant_airl/airl_irm_20210616_170920_antmujoco_airl_nrexptraj10_irlep1_seed43/single_disc 

