PPOSGD

Original paper: https://arxiv.org/abs/1707.06347
Baselines blog post: https://blog.openai.com/openai-baselines-ppo/
mpirun -np 8 python -m baselines.ppo1.run_atari runs the algorithm for 40M frames = 10M timesteps on an Atari game. See help (-h) for more options.
python -m baselines.ppo1.run_mujoco runs the algorithm for 1M frames on a Mujoco environment.
Train mujoco 3d humanoid (with optimal-ish hyperparameters): mpirun -np 16 python -m baselines.ppo1.run_humanoid --model-path=/path/to/model
Render the 3d humanoid: python -m baselines.ppo1.run_humanoid --play --model-path=/path/to/model