First you must install the required dependencies. We are using Python 3.8, and the packages can be installed via the command

	pip install -r requirements.txt

You also must set the root directory in the MACHINE_VARIABLES dictionary in code/defaults.py. This is where experiments' logs and checkpoints will be placed.

Now that setup is complete, run the code using the following command:

	python main.py -c config/ENV.json

where ENV is replaced with one of {navigation1, navigation2, cheetah-no-flip, hopper}.