brax
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Massively parallel rigidbody physics simulation on accelerator hardware.
I had a case where my mujoco model had only geometry (boxes, spheres, etc) and no meshes. When I tried to use the HTML visualizer with this model (`HTML(html.render(brax_sys, rollout))`),...
Hello! For an unrelated research project, I needed a massively parallel RL environment with domain randomization capabilities. Isaac Sim/Gym/Omniverse fit the bill, but I also needed the simulator to be...
### Discussed in https://github.com/google/brax/discussions/403 Originally posted by **eleninisioti** October 11, 2023 There is a notebook that explains how to save and load models (https://github.com/google/brax/blob/main/notebooks/training.ipynb) but there testing happens right after...
For domain randomization it is not particularly easy to `vmap` over different `System` values. For example the `gravity` values, or the `elasticity`. Preferably you should be able to do this...
The grad_updates_per_step hyperparameter for SAC changed at some point in the last year or two from being a decimal value to being an integer. I believe the old values are...
I added a parameter to PPO for specifying the weight of the value loss. See issue #424
The training wrappers for auto reset and episode wrapper are leaking info to each other. This is a bigger problem if people want to stack their own wrappers. For example,...
Lots of other frameworks seem to be switching to gymnasium. It'd be nice to also have a gymnasium wrapper in brax.
I implemented my rope with nested rigid bodies and joints, and I did some experiments on Brax. I found that Brax only supports limited nested bodies. Would you happen to...
For robots like fixed-base serial manipulators, it is not uncommon to have `n` joints and `n+1` links, as there will be a nontrivial base link with inertial properties. For example,...
