IsaacGymEnvs
robo-gym
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| IsaacGymEnvs | robo-gym | |
|---|---|---|
| 8 | 4 | |
| 1,599 | 371 | |
| 9.3% | 4.0% | |
| 4.6 | 0.0 | |
| 9 days ago | about 2 years ago | |
| Python | Python | |
| GNU General Public License v3.0 or later | MIT License |
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IsaacGymEnvs
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What is the limit on parallel environments?
Although Gym/Gymnasium allows you to generate vectorized parallel environments, if you want to train in hundreds or thousands of environments you will need to use the NVIDIA simulator repertoire (Isaac Gym, Isaac Orbit or Omniverse Isaac Gym).
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How to optimize custom gym environment for GPU
Otherwise, I'd suggest checking out the Isaac Gym paper and the Isaac Gym Envs repo.
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Showing the "good" values does not help the PPO algorithm?
in the given environment (https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/blob/main/isaacgymenvs/tasks/franka_cabinet.py), the task for the robot is to open a cabinet. The action values, which are the output of the agent, are the target velocity values for the robot's joints.
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Has anyone experience using/implementing "masking action" in Isaac Gym?
can it be implemented in the task-level scripts (i.e. ant.py, FrankaCabinet.py etc.) like this?
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[Material advice] Learn reinforcement leanring
IsaacGymEnvs
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Simulating robotic arm for object manipulation
And here are some reinforcment learning examples.
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What Happened to OpenAI + RL?
Gym has been great at standardizing API and providing a baseline set of environments. However, parallelizing environments with original Gym interface is cumbersome, and new simulators are being introduced with their own ways of doing things. It's not clear to me that Gym is still useful today, from a research perspective.
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[D] MuJoCo vs PyBullet? (esp. for custom environment)
If you already have experience in PyBullet then its probably not worth switching to Mujoco for creating custom environments. However, if you have the GPU compute for it, I'd recommend checking out Isaac Gym. GPU acceleration is great for spawning a bunch of envs for domain randomization, and it's already been used by recent research to get some great results that have previously taken a ridiculous amount of CPU compute.
robo-gym
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Simulating robotic arm for object manipulation
what about robo-gym https://github.com/jr-robotics/robo-gym?
- Joanneum Research Institute Release Version 1.0.0 Of Robo-Gym, An Open Source Toolkit For Distributed Deep Reinforcement Learning On Real And Simulated Robots
What are some alternatives?
MuJoCo_RL_UR5 - A MuJoCo/Gym environment for robot control using Reinforcement Learning. The task of agents in this environment is pixel-wise prediction of grasp success chances.
drl_grasping - Deep Reinforcement Learning for Robotic Grasping from Octrees
dm_control - Google DeepMind's software stack for physics-based simulation and Reinforcement Learning environments, using MuJoCo.
rlcard - Reinforcement Learning / AI Bots in Card (Poker) Games - Blackjack, Leduc, Texas, DouDizhu, Mahjong, UNO.
Unity-Robotics-Hub - Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity.
modelicagym - Modelica models integration with Open AI Gym
gym3 - Vectorized interface for reinforcement learning environments
ai-economist - Foundation is a flexible, modular, and composable framework to model socio-economic behaviors and dynamics with both agents and governments. This framework can be used in conjunction with reinforcement learning to learn optimal economic policies, as done by the AI Economist (https://www.einstein.ai/the-ai-economist).
OmniIsaacGymEnvs - Reinforcement Learning Environments for Omniverse Isaac Gym
football - Check out the new game server:
skrl - Modular reinforcement learning library (on PyTorch and JAX) with support for NVIDIA Isaac Gym, Isaac Orbit and Omniverse Isaac Gym