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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:
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:
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