brax
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google
Massively parallel rigidbody physics simulation on accelerator hardware.
https://github.com/google/brax/blob/12c29bddff9f7508b179884edbb89a893564e5f4/brax/training/gradients.py#L63 If I use AdamW, the optimizer.update need the parameters to update. ` File ".../brax/training/agents/crossq/train.py", line 299, in sgd_step (critic_loss, critic_updated_vars), q_params_from_grad, q_optimizer_state = critic_update( File ".../brax/training/gradients.py", line 63, in...
I want to use this framework for reinforcement learning in vision algorithms, such as the combination of UAV movement and object detection. Are there any relevant examples?
Hello, `fast` env is designed as a minimalistic env for *fast* unit testing. However, it does expose a `_get_obs` method like the other brax environments. This breaks tests that users...
Hello！When using backend=mjx for differentiable simulation training of the GO1 robot dog model with SHAC, even after significantly simplifying the model—retaining only the foot and lower leg colliders and reshaping...
Hello, Differentiating between truncation and termination of episodes is key to proper value estimation. Brax already exposes `truncation` and `episode_done` flags as part of `infos` which allows to make the...
**Objective** It would be highly beneficial for Brax to have well-documented support for recurrent policies, such as those using LSTMs or GRUs. Currently, the default policies and examples (e.g., for...
Jax has the ability to run in multi-controller mode: https://docs.jax.dev/en/latest/multi_process.html does brax support it? I am scheduling training using torchx where one process is assigned a single gpu and processes...
According to mjcf.py: `UserWarning: Brax System, piplines and environments are not actively being maintained. Please see MJX for a well maintained JAX-based physics engine: https://github.com/google-deepmind/mujoco/tree/main/mjx. For a host of environments...
Brax PPO can be passed a policy_params_fn: policy_params_fn: a user-defined callback function that can be used for saving custom policy checkpoints or creating policy rollouts and videos I personally find...
