text: """Author: Brandon Trabucco, Copyright 2019, MIT License"""
  
  
  import multiprocessing
  from cs285.baselines.imitate.dagger import Dagger
  from gym.envs.mujoco.walker2d import Walker2dEnv
  
  
  def run_experiment(experiment_id):
      Dagger(
          Walker2dEnv,
          logging_dir="./walker2d/dagger/{}".format(experiment_id),
          hidden_size=256,
          num_hidden_layers=2,
          exploration_noise_std=0.1,
          expert_policy_ckpt="./walker2d/expert_policy.ckpt",
          num_threads=10,
          max_path_length=1000,
          max_num_steps=1000000,
          batch_size=256,
          num_epochs=1000,
          num_episodes_per_epoch=1,
          num_trains_per_epoch=10,
          num_episodes_before_train=10,
          num_epochs_per_eval=1,
          num_episodes_per_eval=10).launch()
  
  
  if __name__ == "__main__":
  
      num_seeds = 5
      for seed in range(num_seeds):
          multiprocessing.Process(target=run_experiment, args=(seed,)).start()
  