Bullet 2.87 with pybullet robotics Reinforcement Learning environments

Bullet 2.87 has improved support for robotics, reinforcement learning and VR. In particular, see the "Reinforcement Learning" section in the pybullet quickstart guide at http://pybullet.org . There are also preliminary C# bindings to allow the use of pybullet inside Unity 3D for robotics and reinforcement learning.

Here are some videos:

• Minitaur pybullet trained with TF Agents PPO, improved motor model, randomization
• pybullet Ant trained using TensorFlow Agents
• pybullet KUKA grasp training/enjoy using Tensorflow+OpenAI gym+baselines DQN

Some example training the pybullet_pendulum using TensorFlow Agents PPO:
pip install pybullet, agents, tensorflow, gym

python -m pybullet_envs.agents.train_ppo --config=pybullet_pendulum --logdir=pendulum
tensorboard --logdir=pendulum --port=2222
python -m pybullet_envs.agents.visualize_ppo --logdir=pendulum/xxxxx --outdir=pendulum_video

Tensorboard training progress image for the Minitaur locomotion: