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PPO

PPO is the default synchronous on-policy training path. It uses scripts/train_rsl_rl.py, composes from conf/ppo/config.yaml, and runs the RSL-RL adapter code in src/unilab/algos/torch/rsl_rl_ppo.py and src/unilab/training/rsl_rl.py.

Quick Start

uv run train --algo ppo --task go2_joystick_flat --sim mujoco
uv run train --algo ppo --task go2_joystick_flat --sim motrix training.no_play=true

Common Overrides

uv run train --algo ppo --task go2_joystick_flat --sim mujoco \
  algo.num_envs=2048 \
  algo.max_iterations=300 \
  training.no_play=true

Use uv run eval for checkpoint playback:

uv run eval --algo ppo --task go2_joystick_flat --sim mujoco --load-run -1

Logs are grouped by algo.algo_log_name; the default in conf/ppo/config.yaml is rsl_rl_ppo.