---
library_name: sample-factory
tags:
- deep-reinforcement-learning
- reinforcement-learning
- sample-factory
model-index:
- name: APPO
  results:
  - task:
      type: reinforcement-learning
      name: reinforcement-learning
    dataset:
      name: Humanoid
      type: Humanoid
    metrics:
    - type: mean_reward
      value: 8585.19 +/- 1503.74
      name: mean_reward
      verified: false
---

A(n) **APPO** model trained on the **Humanoid** environment.

This model was trained using Sample-Factory 2.0: https://github.com/alex-petrenko/sample-factory.
Documentation for how to use Sample-Factory can be found at https://www.samplefactory.dev/


**Downloading the model**

After installing Sample-Factory, download the model with:
```
python -m sample_factory.huggingface.load_from_hub -r andrewzhang505/isaacgym_humanoid
```

    
**Using the model**

To run the model after download, use the `enjoy` script corresponding to this environment:
```
python -m sf_examples.isaacgym_examples.enjoy_isaacgym --algo=APPO --env=Humanoid --train_dir=./train_dir --experiment=isaacgym_humanoid
```


You can also upload models to the Hugging Face Hub using the same script with the `--push_to_hub` flag.
See https://www.samplefactory.dev/10-huggingface/huggingface/ for more details
        
**Training with this model**

To continue training with this model, use the `train` script corresponding to this environment:
```
python -m sf_examples.isaacgym_examples.train_isaacgym --algo=APPO --env=Humanoid --train_dir=./train_dir --experiment=isaacgym_humanoid --restart_behavior=resume --train_for_env_steps=10000000000
```

Note, you may have to adjust `--train_for_env_steps` to a suitably high number as the experiment will resume at the number of steps it concluded at.