61 lines
2.3 KiB
Markdown
61 lines
2.3 KiB
Markdown
# RSL RL
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Fast and simple implementation of RL algorithms, designed to run fully on GPU.
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This code is an evolution of `rl-pytorch` provided with NVIDIA's Isaac GYM.
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| :zap: The `algorithms` branch supports additional algorithms (SAC, DDPG, DSAC, and more)! |
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Only PPO is implemented for now. More algorithms will be added later.
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Contributions are welcome.
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**Maintainer**: David Hoeller and Nikita Rudin <br/>
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**Affiliation**: Robotic Systems Lab, ETH Zurich & NVIDIA <br/>
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**Contact**: rudinn@ethz.ch
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## Setup
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Following are the instructions to setup the repository for your workspace:
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```bash
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git clone https://github.com/leggedrobotics/rsl_rl
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cd rsl_rl
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pip install -e .
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```
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The framework supports the following logging frameworks which can be configured through `logger`:
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* Tensorboard: https://www.tensorflow.org/tensorboard/
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* Weights & Biases: https://wandb.ai/site
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* Neptune: https://docs.neptune.ai/
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For a demo configuration of the PPO, please check: [dummy_config.yaml](config/dummy_config.yaml) file.
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## Contribution Guidelines
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For documentation, we adopt the [Google Style Guide](https://sphinxcontrib-napoleon.readthedocs.io/en/latest/example_google.html) for docstrings. We use [Sphinx](https://www.sphinx-doc.org/en/master/) for generating the documentation. Please make sure that your code is well-documented and follows the guidelines.
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We use the following tools for maintaining code quality:
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- [pre-commit](https://pre-commit.com/): Runs a list of formatters and linters over the codebase.
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- [black](https://black.readthedocs.io/en/stable/): The uncompromising code formatter.
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- [flake8](https://flake8.pycqa.org/en/latest/): A wrapper around PyFlakes, pycodestyle, and McCabe complexity checker.
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Please check [here](https://pre-commit.com/#install) for instructions to set these up. To run over the entire repository, please execute the following command in the terminal:
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```bash
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# for installation (only once)
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pre-commit install
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# for running
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pre-commit run --all-files
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```
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### Useful Links
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Environment repositories using the framework:
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* `Legged-Gym` (built on top of NVIDIA Isaac Gym): https://leggedrobotics.github.io/legged_gym/
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* `Orbit` (built on top of NVIDIA Isaac Sim): https://isaac-orbit.github.io/
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