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Updates skrl integration to support training/evaluation using JAX #592

Merged

Mayankm96 merged 12 commits into isaac-sim:main from Toni-SM:toni/skrl_jax

Jul 4, 2024

Contributor

Toni-SM commented Jun 28, 2024

Description

This PR updates the skrl integration to support training/evaluation using JAX ML framework

Type of change

New feature (non-breaking change which adds functionality)
This change requires a documentation update

Checklist

I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have run all the tests with ./isaaclab.sh --test and they pass
I have updated the changelog and the corresponding version in the extension's config/extension.toml file
I have added my name to the CONTRIBUTORS.md or my name already exists there

Toni-SM and others added 5 commits

June 27, 2024 17:02


          Add support for training using JAX

c89a377


          Merge branch 'isaac-sim:main' into toni/skrl_jax

b654b8b


          Add support for evaluating using JAX

e27f049


          Add training steps using JAX to docs


          Increase version and update CHANGELOG

ef1f745

Toni-SM requested review from Mayankm96 and Dhoeller19

June 28, 2024 14:13

Toni-SM added the enhancement label


          Merge branch 'isaac-sim:main' into toni/skrl_jax

989a08a

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Contributor

Mayankm96 left a comment •

edited

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Mostly looks fine. Have some comments that are mainly NITs. Would be great to have them addressed before merging the MR.

Are there also different config files that need to be loaded for SKRL? Can you also share some training results/performance with the different backends? I think that will be quite useful.

Mayankm96 assigned Toni-SM

Toni-SM added 4 commits

July 2, 2024 14:43


          Update version and CHANGELOG

14468f0


          Merge branch 'main' into toni/skrl_jax


          Update annotation and docstrings

3e7f75c


          Update descriptions and comments

666367c

Contributor Author

Toni-SM commented Jul 2, 2024

I have completed all the changes, and commented about the "startswith vs =="

Toni-SM requested a review from Mayankm96

July 2, 2024 19:43

Toni-SM added 2 commits

July 3, 2024 10:34


          Merge branch 'isaac-sim:main' into toni/skrl_jax

e15fc61


          Merge branch 'isaac-sim:main' into toni/skrl_jax

4f84b82

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Mayankm96 changed the title ~~Update skrl integration to support training/evaluation using JAX~~ Updates skrl integration to support training/evaluation using JAX

Mayankm96 merged commit 4264e4f into isaac-sim:main

2 checks passed

mohanksriram pushed a commit to mohanksriram/IsaacLab that referenced this pull request


          Updates skrl integration to support training/evaluation using JAX (is…

6580c58

…aac-sim#592)

# Description

This PR updates the skrl integration to support training/evaluation
using JAX ML framework

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have run all the tests with `./isaaclab.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

fatimaanes pushed a commit to fatimaanes/omniperf that referenced this pull request


          Updates skrl integration to support training/evaluation using JAX (is…

cdbf1b6

…aac-sim#592)

# Description

This PR updates the skrl integration to support training/evaluation
using JAX ML framework

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have run all the tests with `./isaaclab.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

iamdrfly pushed a commit to iamdrfly/IsaacLab that referenced this pull request


          Updates skrl integration to support training/evaluation using JAX (is…

a704e0e

…aac-sim#592)

# Description

This PR updates the skrl integration to support training/evaluation
using JAX ML framework

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have run all the tests with `./isaaclab.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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