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---
library_name: skrl
tags:
- deep-reinforcement-learning
- reinforcement-learning
- skrl
model-index:
- name: PPO
results:
- metrics:
- type: mean_reward
value: 61.68 +/- 2.18
name: Total reward (mean)
task:
type: reinforcement-learning
name: reinforcement-learning
dataset:
name: IsaacGymEnvs-Anymal
type: IsaacGymEnvs-Anymal
---
<!-- ---
torch: 61.68 +/- 2.18
jax: 61.31 +/- 1.39
numpy: 59.62 +/- 1.85
--- -->
# IsaacGymEnvs-Anymal-PPO
Trained agent for [NVIDIA Isaac Gym Preview](https://github.com/NVIDIA-Omniverse/IsaacGymEnvs) environments.
- **Task:** Anymal
- **Agent:** [PPO](https://skrl.readthedocs.io/en/latest/api/agents/ppo.html)
# Usage (with skrl)
Note: Visit the skrl [Examples](https://skrl.readthedocs.io/en/latest/intro/examples.html) section to access the scripts.
* PyTorch
```python
from skrl.utils.huggingface import download_model_from_huggingface
# assuming that there is an agent named `agent`
path = download_model_from_huggingface("skrl/IsaacGymEnvs-Anymal-PPO", filename="agent.pt")
agent.load(path)
```
* JAX
```python
from skrl.utils.huggingface import download_model_from_huggingface
# assuming that there is an agent named `agent`
path = download_model_from_huggingface("skrl/IsaacGymEnvs-Anymal-PPO", filename="agent.pickle")
agent.load(path)
```
# Hyperparameters
Note: Undefined parameters keep their values by default.
```python
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 24 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 3 # 24 * 4096 / 32768
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 3e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = None
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
```
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