rlightning.engine.rsl_rl_engine

RSL-RL engine module for training with RSL-RL policies.

This module implements the RSLRLEngine which inherits from SyncRLEngine and provides compatibility with RSL-RL (Robot Learning) style policies.

class rlightning.engine.rsl_rl_engine.RSLRLEngine(config, env_group=None, policy_group=None, buffer=None)

Bases: SyncRLEngine

RSL-RL training engine.

This engine extends SyncRLEngine to support RSL-RL style policies, with modified rollout and training loops for on-policy learning.

rollout(obj_set: str, prefix: str = '', is_eval: bool = False) → None

Perform rollout to collect experience from environments.

Collects experience by stepping through environments, applying policy post-processing before storing transitions in the buffer.

Parameters:

• obj_set – Object set identifier for environment reset options.

• prefix – Prefix for logging metrics.

• is_eval – If True, skips buffer storage (evaluation only).

train() → None

Perform training on collected experience.

Samples data from the buffer, updates the dataset, and trains the policy. Designed for on-policy training with batch_size=-1.

Raises:

ValueError – If buffer is empty when training.

update_dataset() → None

Update the dataset in the policy group from the buffer.

warm_up()

Initialize runtime state without running training.