stable-baselines3 VS Pytorch

The latest release (v3.0.0) of Upkie's software brings a functional sim-to-real reinforcement learning pipeline based on Stable Baselines3, with standard sim-to-real tricks. The pipeline trains on the Gymnasium environments distributed in upkie.envs (setup: pip install upkie) and is implemented in the PPO balancer. Here is a policy running on an Upkie:

PettingZoo 1.24.0 is now live! This release includes Python 3.11 support, updated Chess and Hanabi environment versions, and many bugfixes, documentation updates and testing expansions. We are also very excited to announce 3 tutorials using Stable-Baselines3, and a full training script using CleanRL with TensorBoard and WandB.

I am wondering why there is so few algorithms in Stable Baselines 3 (SB3, https://github.com/DLR-RM/stable-baselines3/tree/master)? I was expecting some algorithms like ICM, HIRO, DIAYN, ... Why there is no model-based, skill-chaining, hierarchical-RL, ... algorithms implemented there?

Discord is more focused, and they have a page for people who wants to contribute https://github.com/DLR-RM/stable-baselines3/blob/master/CONTRIBUTING.md

Therefore, I debugged this error to the ReplayBuffer that was imported from `SB3`. This is the problem function -

Have you ever wanted to use dm-control with stable-baselines3? Within Reinforcement learning (RL), a number of APIs are used to implement environments, with limited ability to convert between them. This makes training agents across different APIs highly difficult, and has resulted in a fractured ecosystem.

Changelog: https://github.com/DLR-RM/stable-baselines3/releases/tag/v1.8.0

Great project! One question though, is there any reason why you are not using existing RL models instead of creating your own, such as stable baselines?

fyi should work on most 40xx[1]

[1] https://github.com/pytorch/pytorch/issues/119638#issuecommen...

Sure, right here: https://github.com/pytorch/pytorch/blob/main/torch/autograd/...

Here's the documentation: https://pytorch.org/tutorials/intermediate/forward_ad_usage....

> When an input, which we call “primal”, is associated with a “direction” tensor, which we call “tangent”, the resultant new tensor object is called a “dual tensor” for its connection to dual numbers[0].

*My post explains Dot, Matrix and Element-wise multiplication in PyTorch.

In PyTorch with @, dot() or matmul():

import torch # we use PyTorch: https://pytorch.org data = torch.tensor(encode(text), dtype=torch.long) print(data.shape, data.dtype) print(data[:1000]) # the 1000 characters we looked at earlier will to the GPT look like this

AI's Open Embrace Artificial intelligence (AI) and machine learning (ML) are increasingly leveraging open-source frameworks like TensorFlow [https://www.tensorflow.org/] and PyTorch [https://pytorch.org/]. This democratization of AI tools is driving innovation and lowering entry barriers across industries.

Which label applies to a tool sometimes depends on what you do with it. For example, PyTorch or TensorFlow can be called a library, a toolkit, or a machine-learning framework.

In PyTorch with * or mul(). ` or mul()` can multiply 0D or more D tensors by element-wise multiplication:

When I was at Facebook, I wrote a Python script to extract shell scripts from GitHub Actions workflows, so we could run them all through ShellCheck: https://github.com/pytorch/pytorch/blob/69e0bda9996865e319db...

PyTorch: An open-source deep learning framework that facilitates dynamic computational graphs, making it flexible and efficient for research and production.