Switch PPO backend to rsl_rl

silvery107 / rl-mpc-locomotion

Deep RL for MPC control of Quadruped Robot Locomotion

https://docs.google.com/presentation/d/18bznpYrkCPnhCisySPDz18hvL3Ytere7JiJEbdLvpgU/edit?usp=sharing

MIT License

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Switch PPO backend to rsl_rl #3

Closed silvery107 closed 6 months ago

silvery107 commented 9 months ago

The PPO backend rl_games in this repo seems to be a "bad" choice for legged learning, and I am using rsl_rl intensively for my current project. If there is a need or I have some free time, this could be a planned work.