Alexis DUBURCQ

Implementation design issues in SubprocVectorEnv

4

Currently, in `SubprocVectorEnv`, there is a single [send](https://github.com/thu-ml/tianshou/blob/2336a7db1b7ed2d27ef09462f4084f5a45daa008/tianshou/env/worker/subproc.py#L189) method to do both `reset` and `step`. So, it relies on the action being [None](https://github.com/thu-ml/tianshou/blob/10d919052bb2a07fce9d1cf3d890a57d93209b96/tianshou/env/worker/subproc.py#L89) to call `reset` instead of `step`. Thus...

How to use custom loss ?

8

I would like to add the following extra term to the loss function,  where  is the action sampled by the distribution, and ![y_{ref}...

I think many classes of Tianshou, and especially `__slots__` seem to be especially appropriate for the use of `__slots__` instead of `__dict__`. Have a look at this [stackoverflow post](https://stackoverflow.com/questions/472000/usage-of-slots) for...

Remove '--disable-gpu' flag on windows

2

Adding '--disable-gpu' flag on windows [here](https://github.com/pyppeteer/pyppeteer/blob/5daef2ae92458c5ebd75a38ffcdc43cfd1de0705/pyppeteer/launcher.py#L392) is no longer necessary, according to this [PR](https://github.com/puppeteer/puppeteer/pull/4523) on puppeter.

Currently, the sensor and controller update periods are set at engine level, while it should be specific to every robots. It would be natural to move the controller as an...

[python] Leverage Casadi JIT compilation

1

It is possible to speedup simulation by pre-compiling computationally intensive loops. For C++ core, the main bottlenecks are related to the contact solver, namely the decomposition of the mass matrix...

[python/viewer] Split the notions of view and Viewer.

1

- `panda3d-sync` and `meshcat` backends should run simultaneously to avoid having to rely on dirty hack based on `pyppeteer`. It makes sense since `panda3d-sync` is always available and is computationally...