b-vm / rsl_rl_b-vm

Fast and simple implementation of RL algorithms, designed to run fully on GPU.

RSL RL

Fast and simple implementation of RL algorithms, designed to run fully on GPU. This code is an evolution of rl-pytorch provided with NVIDIA's Isaac GYM.

Only PPO is implemented for now. More algorithms will be added later. Contributions are welcome.

Setup

git clone https://github.com/leggedrobotics/rsl_rl
cd rsl_rl
pip install -e .

Useful Links

Example use case: https://github.com/leggedrobotics/legged_gym
Project website: https://leggedrobotics.github.io/legged_gym/
Paper: https://arxiv.org/abs/2109.11978

Maintainer: Nikita Rudin
Affiliation: Robotic Systems Lab, ETH Zurich & NVIDIA
Contact: [e-mail]