chore: release v0.0.1

scripts/train.py

@@ -0,0 +1,94 @@
+# Copyright (C) 2020-2025 Motphys Technology Co., Ltd. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+
+
+import logging
+
+from absl import app, flags
+from skrl import config
+
+from motrix_rl import utils
+
+logger = logging.getLogger(__name__)
+
+_ENV = flags.DEFINE_string("env", "cartpole", "The env to train")
+_SIM_BACKEND = flags.DEFINE_string(
+    "sim-backend",
+    None,
+    "The simulation backend to use.(If not specified, it will be choosen automatically)",
+)
+_NUM_ENVS = flags.DEFINE_integer("num-envs", 2048, "Number of envs to train")
+_RENDER = flags.DEFINE_bool("render", False, "Render the env")
+_TRAIN_BACKEND = flags.DEFINE_string("train-backend", "jax", "The learning backend. (jax/torch)")
+_SEED = flags.DEFINE_integer("seed", None, "Random seed for reproducibility")
+_RAND_SEED = flags.DEFINE_bool("rand-seed", False, "Generate random seed")
+
+
+def get_train_backend(supports: utils.DeviceSupports):
+    if supports.jax and supports.jax_gpu:
+        return "jax"
+    elif supports.torch and supports.torch_gpu:
+        return "torch"
+    elif supports.jax:
+        return "jax"
+    elif supports.torch:
+        return "torch"
+    else:
+        raise Exception("neither jax nor torch not avaliable on the device.")
+
+
+def main(argv):
+    device_supports = utils.get_device_supports()
+    logger.info(device_supports)
+    env_name = _ENV.value
+    enable_render = _RENDER.value
+
+    rl_override = {}
+
+    if _NUM_ENVS.present:
+        rl_override["num_envs"] = _NUM_ENVS.value
+
+    if _RAND_SEED.value:
+        rl_override["seed"] = None
+    elif _SEED.present:
+        rl_override["seed"] = _SEED.value
+
+    sim_backend = _SIM_BACKEND.value
+    train_backend = "jax"
+    if not _TRAIN_BACKEND.present:
+        train_backend = get_train_backend(device_supports)
+    else:
+        train_backend = _TRAIN_BACKEND.value
+
+    trainer = None
+    if train_backend == "jax":
+        from motrix_rl.skrl.jax.train import ppo
+
+        config.jax.backend = "jax"  # or "numpy"
+        trainer = ppo.Trainer(env_name, sim_backend, cfg_override=rl_override, enable_render=enable_render)
+
+    elif train_backend == "torch":
+        from motrix_rl.skrl.torch.train import ppo
+
+        config.torch.backend = "torch"
+        trainer = ppo.Trainer(env_name, sim_backend, cfg_override=rl_override, enable_render=enable_render)
+    else:
+        raise Exception(f"Unknown train backend: {train_backend}")
+
+    trainer.train()
+
+
+if __name__ == "__main__":
+    app.run(main)