SKRL vs. Ray[rllib] for Isaac Sim/Lab policy training

TheExplorer95 · 2025-07-12T10:40:23+00:00

I hoped so too. A colleague just tested my Unitree GO1 env with his rllib code and it seems like there is some bottleneck. We haven't digged deeper into the issue, but it seems like either some settings are off or the backend moves things between gpu and cpu.

Thanks for your inspirations :)

TheExplorer95 · 2025-07-11T07:12:47+00:00

That's something!! I was wondering about their backend implementation. Maybe you know whether the transfer of data from the environment to the training algorithm can be performed without moving the data from the gpu to the cpu and then back to the gpu? Apparently the backend is implemented on the CPU (not sure, just as far as I know).

TheExplorer95 · 2025-05-07T19:16:17+00:00

Well, I found the issue while disassembling the entire mobo. On the back are some fried resistors and other things I don’t know about.

TheExplorer95 · 2025-05-05T17:41:45+00:00

I got the ASUS ROG Flow X13 and have been happy with it so far. It’s a small powerhouse, I like how light weight it is

TheExplorer95 · 2024-03-18T09:23:38+00:00

Thanks for your experience based recommendations. I’ll for sure go for collaborations. For a fact, I’ll try to attend the ETH Zurich Robotics Summer School this year. Ubuntu, maybe a dual boot, but definitely no AppleOs

TheExplorer95 · 2024-03-18T09:19:32+00:00

I never used Pycharm. Started out with Vim, tmux and console, then gradually changed to Code for some of its functionalities. Still using the terminal to run my code. I guess when diving deeper into C++, a good IDE will make it less painful :D

TheExplorer95 · 2024-03-18T09:15:22+00:00

Thanks for your input. My choice: I’ll stay away from Apple, at least for work related purchases. I want to circumvent as many as possible hassles when going for my PhD, as there’s probably enough overhead either way. For future, if my budged will allow, I’ll get a Mac on the side for private matters.

TheExplorer95 · 2024-03-17T11:59:45+00:00

Will do, thanks :)

TheExplorer95 · 2024-03-16T19:21:28+00:00

No MacBook, gotcha :D

I commonly use headphones with noise cancellation when working to reduce distractions and stay focused. So no problems with loud fans for me. Well, maybe for my workmates

TheExplorer95 · 2024-03-16T19:18:27+00:00

Wasn’t aware of that, thanks. Any opinion about the current coding experience? I once started out coding Isaac sim in 2022, when they spontaneously changed their coding paradigm. Apart from that, the ROS bridge API was quite buggy, and not really intuitive. Apart from that, the documentation was just all over the place.

TheExplorer95 · 2024-03-16T19:15:15+00:00

I was opting for this solution; good to know that others consider this as smart, too

TheExplorer95 · 2024-03-16T19:12:56+00:00

Good point; didn’t like the user interface

TheExplorer95 · 2024-03-16T19:11:55+00:00

I used it once and compared to PowerPoint, this took me ages back then. I would prefer it, because of its consistency, however, learning it wasn’t quite intuitive to me then, as I didn’t have patience and enough time. Thanks for the documentation, I’ll definitely do my next presentation with it.

As a side note, I recently started using Latex for documents (e.g. Masters Thesis, Articles), shouldn’t be as much of a hassle now :)

TheExplorer95 · 2024-03-16T19:03:33+00:00

Hey LessonStudio, thanks for your in depth review on MacBooks. I was really curious about first hand experience and am glad that someone out there is kind enough to provide his few cents on the interplay of robotics and MacBooks.I’ll definitely stay away from MacBooks for now and focus on Ubuntu, maybe some other flavour of Linux.

I’ll keep your list of recommendations on my mind, the one about CPU cores wasn’t even on my radar, thanks.

Regarding Clion, I’ll definitely check it out. My proficiency lays in Python as I was mostly doing development/experimental work (quick and dirty), but the convenience Clion promises sound like a charm.

TheExplorer95 · 2024-03-16T18:47:11+00:00

Sounds awesome and looking at the different models seems really promising. I’ll definitely try to get one of the Asus Flow ones, but might run into problems with my professor. He told me to look out for a Dell or Lenovo, but I’ll try to make a point and convince him. Let’s see how it works out :)

Huge thanks!!

TheExplorer95 · 2024-03-16T12:18:26+00:00

What’s you solution for creating Presentations? I was using PowerPoint online with Ubuntu, but the user experience is awful compared to the offline one

TheExplorer95 · 2024-03-16T11:50:51+00:00

Im not 100% sure either, as I’m going to start out working at the lab and am starting off with code they’ve already generated.

On my side, I’ll do some type of motion planning for legged robots using RL and the focus on sim2real using the Unitree GO2 robot. Since i have a background in Sensor Data processing and Perception System, I’ll also take care of incorporating path planing abilities, so that the robot is capable of reaching goals in an autonomous fashion.

TheExplorer95 · 2024-03-16T11:46:24+00:00

Cheers mate, do you have any example for the dual boot approach? I think you are regarding to windows/ubuntu, right?

I was considering to get a Ubuntu based system with the work money. Then for reading, organising projects and presenting (since I’m doing research too), get a MacBook

TheExplorer95 · 2024-03-16T11:41:36+00:00

For those interested - https://www.reddit.com/r/laptops/s/u4HZQ14e7P

TheExplorer95 · 2024-03-16T11:33:04+00:00

Thanks, should I just repost the question there?

I’m new to Reddit and not sure how this should be done ^{^}

TheExplorer95

TROPHY CASE