Fast and simple implementation of RL algorithms, designed to run fully on GPU. This code is an evolution of rl-pytorch provided with NVIDIA's Isaac GYM.

Only PPO is implemented for now. More algorithms will be added later. Contributions are welcome.

git clone https://github.com/leggedrobotics/rsl_rl
cd rsl_rl
pip install -e .

Example use case: https://github.com/leggedrobotics/legged_gym
Project website: https://leggedrobotics.github.io/legged_gym/
Paper: https://arxiv.org/abs/2109.11978

Maintainer: Nikita Rudin
Affiliation: Robotic Systems Lab, ETH Zurich & NVIDIA
Contact: rudinn@ethz.ch