python run.py --env_name HalfCheetah-v4 -n 100 -b 5000 -na --use_baseline --exp_name halfcheetah_na_baseline

python run.py --env_name HalfCheetah-v4 -n 100 -b 5000 -na --use_baseline --baseline_gradient_steps 3 --exp_name halfcheetah_na_baseline_bgs3
python run.py --env_name HalfCheetah-v4 -n 100 -b 5000 -na --use_baseline --baseline_learning_rate 0.001 --exp_name halfcheetah_na_baseline_blr1e-3
# with reward to go
python run.py --env_name HalfCheetah-v4 -n 100 -b 5000 -rtg -na --use_baseline --exp_name halfcheetah_na_rtg_baseline
python run.py --env_name HalfCheetah-v4 -n 100 -b 5000 -rtg -na --use_baseline --baseline_gradient_steps 3 --exp_name halfcheetah_na_rtg_baseline_bgs3
python run.py --env_name HalfCheetah-v4 -n 100 -b 5000 -rtg -na --use_baseline --baseline_learning_rate 0.001 --exp_name halfcheetah_na_rtg_baseline_blr1e-3
# Berkely parameters
python run.py --env_name HalfCheetah-v4 -n 100 -b 5000 -rtg --use_baseline --baseline_gradient_steps 5 --baseline_learning_rate 0.01 --exp_name halfcheetah_na_rtg_baseline_bgs5_blr1e-2