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ConstructTraining / scripts /reinforcement_learning /rsl_rl /train.py

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# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""Script to train RL agent with RSL-RL."""

"""Launch Isaac Sim Simulator first."""

import argparse
import sys

from isaaclab.app import AppLauncher

# local imports
import cli_args  # isort: skip

# add argparse arguments
parser = argparse.ArgumentParser(description="Train an RL agent with RSL-RL.")
parser.add_argument("--video", action="store_true", default=False, help="Record videos during training.")
parser.add_argument("--video_length", type=int, default=200, help="Length of the recorded video (in steps).")
parser.add_argument("--video_interval", type=int, default=2000, help="Interval between video recordings (in steps).")
parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")
parser.add_argument("--task", type=str, default=None, help="Name of the task.")
parser.add_argument(
    "--agent", type=str, default="rsl_rl_cfg_entry_point", help="Name of the RL agent configuration entry point."
)
parser.add_argument("--seed", type=int, default=None, help="Seed used for the environment")
parser.add_argument("--max_iterations", type=int, default=None, help="RL Policy training iterations.")
parser.add_argument(
    "--distributed", action="store_true", default=False, help="Run training with multiple GPUs or nodes."
)
parser.add_argument("--export_io_descriptors", action="store_true", default=False, help="Export IO descriptors.")
parser.add_argument(
    "--ray-proc-id", "-rid", type=int, default=None, help="Automatically configured by Ray integration, otherwise None."
)
# append RSL-RL cli arguments
cli_args.add_rsl_rl_args(parser)
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
args_cli, hydra_args = parser.parse_known_args()

# always enable cameras to record video
if args_cli.video:
    args_cli.enable_cameras = True

# clear out sys.argv for Hydra
sys.argv = [sys.argv[0]] + hydra_args

# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app

"""Check for minimum supported RSL-RL version."""

import importlib.metadata as metadata
import platform

from packaging import version

# check minimum supported rsl-rl version
RSL_RL_VERSION = "3.0.1"
installed_version = metadata.version("rsl-rl-lib")
if version.parse(installed_version) < version.parse(RSL_RL_VERSION):
    if platform.system() == "Windows":
        cmd = [r".\isaaclab.bat", "-p", "-m", "pip", "install", f"rsl-rl-lib=={RSL_RL_VERSION}"]
    else:
        cmd = ["./isaaclab.sh", "-p", "-m", "pip", "install", f"rsl-rl-lib=={RSL_RL_VERSION}"]
    print(
        f"Please install the correct version of RSL-RL.\nExisting version is: '{installed_version}'"
        f" and required version is: '{RSL_RL_VERSION}'.\nTo install the correct version, run:"
        f"\n\n\t{' '.join(cmd)}\n"
    )
    exit(1)

"""Rest everything follows."""

import logging
import os
import time
from datetime import datetime

import gymnasium as gym
import torch
from rsl_rl.runners import DistillationRunner, OnPolicyRunner

from isaaclab.envs import (
    DirectMARLEnv,
    DirectMARLEnvCfg,
    DirectRLEnvCfg,
    ManagerBasedRLEnvCfg,
    multi_agent_to_single_agent,
)
from isaaclab.utils.dict import print_dict
from isaaclab.utils.io import dump_yaml

from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg, RslRlVecEnvWrapper

import isaaclab_tasks  # noqa: F401
from isaaclab_tasks.utils import get_checkpoint_path
from isaaclab_tasks.utils.hydra import hydra_task_config

# import logger
logger = logging.getLogger(__name__)

# PLACEHOLDER: Extension template (do not remove this comment)

torch.backends.cuda.matmul.allow_tf32 = True
torch.backends.cudnn.allow_tf32 = True
torch.backends.cudnn.deterministic = False
torch.backends.cudnn.benchmark = False


@hydra_task_config(args_cli.task, args_cli.agent)
def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agent_cfg: RslRlBaseRunnerCfg):
    """Train with RSL-RL agent."""
    # override configurations with non-hydra CLI arguments
    agent_cfg = cli_args.update_rsl_rl_cfg(agent_cfg, args_cli)
    env_cfg.scene.num_envs = args_cli.num_envs if args_cli.num_envs is not None else env_cfg.scene.num_envs
    agent_cfg.max_iterations = (
        args_cli.max_iterations if args_cli.max_iterations is not None else agent_cfg.max_iterations
    )

    # set the environment seed
    # note: certain randomizations occur in the environment initialization so we set the seed here
    env_cfg.seed = agent_cfg.seed
    env_cfg.sim.device = args_cli.device if args_cli.device is not None else env_cfg.sim.device
    # check for invalid combination of CPU device with distributed training
    if args_cli.distributed and args_cli.device is not None and "cpu" in args_cli.device:
        raise ValueError(
            "Distributed training is not supported when using CPU device. "
            "Please use GPU device (e.g., --device cuda) for distributed training."
        )

    # multi-gpu training configuration
    if args_cli.distributed:
        env_cfg.sim.device = f"cuda:{app_launcher.local_rank}"
        agent_cfg.device = f"cuda:{app_launcher.local_rank}"

        # set seed to have diversity in different threads
        seed = agent_cfg.seed + app_launcher.local_rank
        env_cfg.seed = seed
        agent_cfg.seed = seed

    # specify directory for logging experiments
    log_root_path = os.path.join("logs", "rsl_rl", agent_cfg.experiment_name)
    log_root_path = os.path.abspath(log_root_path)
    print(f"[INFO] Logging experiment in directory: {log_root_path}")
    # specify directory for logging runs: {time-stamp}_{run_name}
    log_dir = datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
    # The Ray Tune workflow extracts experiment name using the logging line below, hence, do not
    # change it (see PR #2346, comment-2819298849)
    print(f"Exact experiment name requested from command line: {log_dir}")
    if agent_cfg.run_name:
        log_dir += f"_{agent_cfg.run_name}"
    log_dir = os.path.join(log_root_path, log_dir)

    # set the IO descriptors export flag if requested
    if isinstance(env_cfg, ManagerBasedRLEnvCfg):
        env_cfg.export_io_descriptors = args_cli.export_io_descriptors
    else:
        logger.warning(
            "IO descriptors are only supported for manager based RL environments. No IO descriptors will be exported."
        )

    # set the log directory for the environment (works for all environment types)
    env_cfg.log_dir = log_dir

    # create isaac environment
    env = gym.make(args_cli.task, cfg=env_cfg, render_mode="rgb_array" if args_cli.video else None)

    # convert to single-agent instance if required by the RL algorithm
    if isinstance(env.unwrapped, DirectMARLEnv):
        env = multi_agent_to_single_agent(env)

    # save resume path before creating a new log_dir
    if agent_cfg.resume or agent_cfg.algorithm.class_name == "Distillation":
        resume_path = get_checkpoint_path(log_root_path, agent_cfg.load_run, agent_cfg.load_checkpoint)

    # wrap for video recording
    if args_cli.video:
        video_kwargs = {
            "video_folder": os.path.join(log_dir, "videos", "train"),
            "step_trigger": lambda step: step % args_cli.video_interval == 0,
            "video_length": args_cli.video_length,
            "disable_logger": True,
        }
        print("[INFO] Recording videos during training.")
        print_dict(video_kwargs, nesting=4)
        env = gym.wrappers.RecordVideo(env, **video_kwargs)

    start_time = time.time()

    # wrap around environment for rsl-rl
    env = RslRlVecEnvWrapper(env, clip_actions=agent_cfg.clip_actions)

    # create runner from rsl-rl
    if agent_cfg.class_name == "OnPolicyRunner":
        runner = OnPolicyRunner(env, agent_cfg.to_dict(), log_dir=log_dir, device=agent_cfg.device)
    elif agent_cfg.class_name == "DistillationRunner":
        runner = DistillationRunner(env, agent_cfg.to_dict(), log_dir=log_dir, device=agent_cfg.device)
    else:
        raise ValueError(f"Unsupported runner class: {agent_cfg.class_name}")
    # write git state to logs
    runner.add_git_repo_to_log(__file__)
    # load the checkpoint
    if agent_cfg.resume or agent_cfg.algorithm.class_name == "Distillation":
        print(f"[INFO]: Loading model checkpoint from: {resume_path}")
        # load previously trained model
        runner.load(resume_path)

    # dump the configuration into log-directory
    dump_yaml(os.path.join(log_dir, "params", "env.yaml"), env_cfg)
    dump_yaml(os.path.join(log_dir, "params", "agent.yaml"), agent_cfg)

    # run training
    runner.learn(num_learning_iterations=agent_cfg.max_iterations, init_at_random_ep_len=True)

    print(f"Training time: {round(time.time() - start_time, 2)} seconds")

    # close the simulator
    env.close()


if __name__ == "__main__":
    # run the main function
    main()
    # close sim app
    simulation_app.close()

	# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
	# All rights reserved.
	#
	# SPDX-License-Identifier: BSD-3-Clause

	"""Script to train RL agent with RSL-RL."""

	"""Launch Isaac Sim Simulator first."""

	import argparse
	import sys

	from isaaclab.app import AppLauncher

	# local imports
	import cli_args # isort: skip

	# add argparse arguments
	parser = argparse.ArgumentParser(description="Train an RL agent with RSL-RL.")
	parser.add_argument("--video", action="store_true", default=False, help="Record videos during training.")
	parser.add_argument("--video_length", type=int, default=200, help="Length of the recorded video (in steps).")
	parser.add_argument("--video_interval", type=int, default=2000, help="Interval between video recordings (in steps).")
	parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")
	parser.add_argument("--task", type=str, default=None, help="Name of the task.")
	parser.add_argument(
	"--agent", type=str, default="rsl_rl_cfg_entry_point", help="Name of the RL agent configuration entry point."
	)
	parser.add_argument("--seed", type=int, default=None, help="Seed used for the environment")
	parser.add_argument("--max_iterations", type=int, default=None, help="RL Policy training iterations.")
	parser.add_argument(
	"--distributed", action="store_true", default=False, help="Run training with multiple GPUs or nodes."
	)
	parser.add_argument("--export_io_descriptors", action="store_true", default=False, help="Export IO descriptors.")
	parser.add_argument(
	"--ray-proc-id", "-rid", type=int, default=None, help="Automatically configured by Ray integration, otherwise None."
	)
	# append RSL-RL cli arguments
	cli_args.add_rsl_rl_args(parser)
	# append AppLauncher cli args
	AppLauncher.add_app_launcher_args(parser)
	args_cli, hydra_args = parser.parse_known_args()

	# always enable cameras to record video
	if args_cli.video:
	args_cli.enable_cameras = True

	# clear out sys.argv for Hydra
	sys.argv = [sys.argv[0]] + hydra_args

	# launch omniverse app
	app_launcher = AppLauncher(args_cli)
	simulation_app = app_launcher.app

	"""Check for minimum supported RSL-RL version."""

	import importlib.metadata as metadata
	import platform

	from packaging import version

	# check minimum supported rsl-rl version
	RSL_RL_VERSION = "3.0.1"
	installed_version = metadata.version("rsl-rl-lib")
	if version.parse(installed_version) < version.parse(RSL_RL_VERSION):
	if platform.system() == "Windows":
	cmd = [r".\isaaclab.bat", "-p", "-m", "pip", "install", f"rsl-rl-lib=={RSL_RL_VERSION}"]
	else:
	cmd = ["./isaaclab.sh", "-p", "-m", "pip", "install", f"rsl-rl-lib=={RSL_RL_VERSION}"]
	print(
	f"Please install the correct version of RSL-RL.\nExisting version is: '{installed_version}'"
	f" and required version is: '{RSL_RL_VERSION}'.\nTo install the correct version, run:"
	f"\n\n\t{' '.join(cmd)}\n"
	)
	exit(1)

	"""Rest everything follows."""

	import logging
	import os
	import time
	from datetime import datetime

	import gymnasium as gym
	import torch
	from rsl_rl.runners import DistillationRunner, OnPolicyRunner

	from isaaclab.envs import (
	DirectMARLEnv,
	DirectMARLEnvCfg,
	DirectRLEnvCfg,
	ManagerBasedRLEnvCfg,
	multi_agent_to_single_agent,
	)
	from isaaclab.utils.dict import print_dict
	from isaaclab.utils.io import dump_yaml

	from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg, RslRlVecEnvWrapper

	import isaaclab_tasks # noqa: F401
	from isaaclab_tasks.utils import get_checkpoint_path
	from isaaclab_tasks.utils.hydra import hydra_task_config

	# import logger
	logger = logging.getLogger(__name__)

	# PLACEHOLDER: Extension template (do not remove this comment)

	torch.backends.cuda.matmul.allow_tf32 = True
	torch.backends.cudnn.allow_tf32 = True
	torch.backends.cudnn.deterministic = False
	torch.backends.cudnn.benchmark = False


	@hydra_task_config(args_cli.task, args_cli.agent)
	def main(env_cfg: ManagerBasedRLEnvCfg \| DirectRLEnvCfg \| DirectMARLEnvCfg, agent_cfg: RslRlBaseRunnerCfg):
	"""Train with RSL-RL agent."""
	# override configurations with non-hydra CLI arguments
	agent_cfg = cli_args.update_rsl_rl_cfg(agent_cfg, args_cli)
	env_cfg.scene.num_envs = args_cli.num_envs if args_cli.num_envs is not None else env_cfg.scene.num_envs
	agent_cfg.max_iterations = (
	args_cli.max_iterations if args_cli.max_iterations is not None else agent_cfg.max_iterations
	)

	# set the environment seed
	# note: certain randomizations occur in the environment initialization so we set the seed here
	env_cfg.seed = agent_cfg.seed
	env_cfg.sim.device = args_cli.device if args_cli.device is not None else env_cfg.sim.device
	# check for invalid combination of CPU device with distributed training
	if args_cli.distributed and args_cli.device is not None and "cpu" in args_cli.device:
	raise ValueError(
	"Distributed training is not supported when using CPU device. "
	"Please use GPU device (e.g., --device cuda) for distributed training."
	)

	# multi-gpu training configuration
	if args_cli.distributed:
	env_cfg.sim.device = f"cuda:{app_launcher.local_rank}"
	agent_cfg.device = f"cuda:{app_launcher.local_rank}"

	# set seed to have diversity in different threads
	seed = agent_cfg.seed + app_launcher.local_rank
	env_cfg.seed = seed
	agent_cfg.seed = seed

	# specify directory for logging experiments
	log_root_path = os.path.join("logs", "rsl_rl", agent_cfg.experiment_name)
	log_root_path = os.path.abspath(log_root_path)
	print(f"[INFO] Logging experiment in directory: {log_root_path}")
	# specify directory for logging runs: {time-stamp}_{run_name}
	log_dir = datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
	# The Ray Tune workflow extracts experiment name using the logging line below, hence, do not
	# change it (see PR #2346, comment-2819298849)
	print(f"Exact experiment name requested from command line: {log_dir}")
	if agent_cfg.run_name:
	log_dir += f"_{agent_cfg.run_name}"
	log_dir = os.path.join(log_root_path, log_dir)

	# set the IO descriptors export flag if requested
	if isinstance(env_cfg, ManagerBasedRLEnvCfg):
	env_cfg.export_io_descriptors = args_cli.export_io_descriptors
	else:
	logger.warning(
	"IO descriptors are only supported for manager based RL environments. No IO descriptors will be exported."
	)

	# set the log directory for the environment (works for all environment types)
	env_cfg.log_dir = log_dir

	# create isaac environment
	env = gym.make(args_cli.task, cfg=env_cfg, render_mode="rgb_array" if args_cli.video else None)

	# convert to single-agent instance if required by the RL algorithm
	if isinstance(env.unwrapped, DirectMARLEnv):
	env = multi_agent_to_single_agent(env)

	# save resume path before creating a new log_dir
	if agent_cfg.resume or agent_cfg.algorithm.class_name == "Distillation":
	resume_path = get_checkpoint_path(log_root_path, agent_cfg.load_run, agent_cfg.load_checkpoint)

	# wrap for video recording
	if args_cli.video:
	video_kwargs = {
	"video_folder": os.path.join(log_dir, "videos", "train"),
	"step_trigger": lambda step: step % args_cli.video_interval == 0,
	"video_length": args_cli.video_length,
	"disable_logger": True,
	}
	print("[INFO] Recording videos during training.")
	print_dict(video_kwargs, nesting=4)
	env = gym.wrappers.RecordVideo(env, **video_kwargs)

	start_time = time.time()

	# wrap around environment for rsl-rl
	env = RslRlVecEnvWrapper(env, clip_actions=agent_cfg.clip_actions)

	# create runner from rsl-rl
	if agent_cfg.class_name == "OnPolicyRunner":
	runner = OnPolicyRunner(env, agent_cfg.to_dict(), log_dir=log_dir, device=agent_cfg.device)
	elif agent_cfg.class_name == "DistillationRunner":
	runner = DistillationRunner(env, agent_cfg.to_dict(), log_dir=log_dir, device=agent_cfg.device)
	else:
	raise ValueError(f"Unsupported runner class: {agent_cfg.class_name}")
	# write git state to logs
	runner.add_git_repo_to_log(__file__)
	# load the checkpoint
	if agent_cfg.resume or agent_cfg.algorithm.class_name == "Distillation":
	print(f"[INFO]: Loading model checkpoint from: {resume_path}")
	# load previously trained model
	runner.load(resume_path)

	# dump the configuration into log-directory
	dump_yaml(os.path.join(log_dir, "params", "env.yaml"), env_cfg)
	dump_yaml(os.path.join(log_dir, "params", "agent.yaml"), agent_cfg)

	# run training
	runner.learn(num_learning_iterations=agent_cfg.max_iterations, init_at_random_ep_len=True)

	print(f"Training time: {round(time.time() - start_time, 2)} seconds")

	# close the simulator
	env.close()


	if __name__ == "__main__":
	# run the main function
	main()
	# close sim app
	simulation_app.close()