[Feature] Add optimized version of SAC from state and pixels

haosulab / ManiSkill

SAPIEN Manipulation Skill Framework, a GPU parallelized robotics simulator and benchmark

https://maniskill.ai/

Apache License 2.0

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Open StoneT2000 opened 6 days ago

StoneT2000 commented 6 days ago

some obvious changes that will help train faster and use larger replay buffers

sampled batch/env indexes should be on GPU if data is already on GPU
share memory of obs and next obs to reduce memory use and enable larger replay buffers
compile/cudagraphs support