I am training the walker-agent in ppo mode to get him to run, like a track and field athlete. But I find that he habitually walks using one leg dragging the other, instead of running with alternating legs as I would like. Does anyone have any advice?
OMG you trained a zombie! 
I’d say the problem is that your agent doesn’t have bones, tendons and muscles. It’s basically a stick figure with a bunch of rigid bodies, connected by ball or hinge joints. An efficient forward motion is likely to be different than what works for real human bodies. You shouldn’t expect realistic looking behavior from your agent, unless you can physically simulate human anatomy pretty accurately.
You can try working with mocaps and imitation learning though. For that, you’d need to set up a character rig with physics (use articulation bodies) and have it perfectly mimic a given mocap animation. Which means, read all bone positions and rotations from an animated character and apply them to the physical one. Once you got that working, you can record demonstration files and proceed with imitation learning.
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thanks for your answer! I will try it. But I have also found people who have trained a correct running stance with the walker:
https://www.youtube.com/watch?v=74GE90bQydE
. He should also not have used muscles and other things that stimulate the human body. And he said he was using v0.6, although I can find the package for this version, I can’t find the v0.6 example anymore
so sad