Reinforcement Learning Skill

Overview

Expert skill for training reinforcement learning agents for robot control tasks, including environment design, training pipelines, and sim-to-real transfer.

Capabilities

• Configure Gym/Gymnasium environments for robots
• Set up Stable Baselines3 training (PPO, SAC, TD3)
• Implement custom observation and action spaces
• Design reward shaping strategies
• Configure parallel environment training
• Implement domain randomization for sim-to-real
• Set up curriculum learning
• Configure vision-based RL with CNNs
• Implement policy distillation
• Export policies for deployment (ONNX, TorchScript)