This repository contains parallelized RL environment for Genesis general-purpose physics platform.
- Python >= 3.11
- uv >= 0.6
Clone this repository:
git clone https://github.com/RochelleNi/GenesisEnvs.gitThen install by uv:
$ uv syncor by PyPI:
$ pip install -e .To train a policy, you can run with:
uv run run.py --config-path PATH_TO_YOUR_CONFIG --exp-name YOUR_EXP_NAME
# training PPO agent with grasp env:
uv run run.py --config-path configs/GraspFrankaDQN.yaml --exp-name EXP_GraspFrankaDQN
# traininig DQN agent with grasp env:
uv run run.py --config-path configs/GraspFrankaPPO.yaml --exp-name EXP_GraspFrankaPPO