## Supplementary Material for "An Open-Loop Baseline for Reinforcement Learning Locomotion Tasks"


The folder `open_loop_mujoco/` contains the code and instructions to reproduce the main results.

The folder `minimal/` contains standalone minimal examples to solve the Swimmer-v4 and HalfCheetah-v4 tasks (`gymnasium[mujoco]==0.29.1` is the only dependency required to run the scripts).

The folder `baselines/` contains the code and script to run the RL baselines and the robustness experiment.

## Video

The video `open_loop_sim2real.mp4` presents the simulation-to-reality experiment with reinforcement learning and with the open-loop approach.
