I followed the tutorial Custom RL Example using Stable Baselines to build my environment,but it doesn’t work. I copied the code and ran the cartpole example. When num_envs is 1, it can run, but when I change num_envs, it reports an error. My world contains multiple envs, but when wrapping the env, I…

Hi @2456496590 For the Custom RL example applied to multiple environments, this post may help: [image] Unable to train multi environment robot Isaac Sim Hi @LYS_00 After looking at the code, I have the following comments: The VecEnvBase instance (from the omni.isaac.…

Hi, i tried to run the code provided (cartpole_train.py) in combination with the proposed changes to the cartpole_task.py. While setting self.num_envs = 8, I am getting the following error: Traceback (most recent call last): File "cartpole_train1.py", line 179, in <module> trainer.train() …

cartpole_play.py (995 Bytes) cartpole_train.py (6.7 KB) cartpole_task.py (6.5 KB) I was finally able to upload my files, here they are :)

Hi @191kaw Sorry for late response Please, note that to work with multiple environment it is necessary to create clones using the GridCloner as shown in the snippet. In the files.zip you can find the modified task. from omni.isaac.cloner import GridCloner # ... def set_up_scene(self, scene…

Thanks for your reply! I’ve missed the point about the cloner, using this your provided example works :) However, I am trying to get this example running with SB3 and multiple parallel envs similar to this approach: Unable to train multi environment robot - #11 I wonder if SB3 is capable of a para…

Hi @191kaw I think you need to wrap the environment with some stable_baselines3 VecEnv functionality to work with parallel environments as it is done in Isaac Orbit Sb3VecEnvWrapper . off-topic advertising: why sb3 if there is skrl ? 😅

Based on Custom RL Example using Stable Baselines , multiple envs wrong!

Robotics & Edge Computing Robotics - Isaac Isaac Gym

191kaw October 5, 2023, 11:34am 8

Thanks for pointing out Isaac Orbit! I am currently trying it out.

The reason I wanted to use sb3 over skrl is that I have worked with sb3 in previous projects. Further it seems that the given skrl implementation of SAC within the rl_games is not working properly as I mentioned here:

Best regards,
Konstantin

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Based on Custom RL Example using Stable Baselines , multiple envs wrong!

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