Jax based RL support

[VikasChidananda]

Hey guys,

thank you for a great repo on a jax based sim env.
We are trying to use your simulation env for a jax based RL training.
Have you tried integrating with an RL pipeline for your own use cases?

If not, we can try for simple example using sbx / skrl (jax) and raise a pull request.

Best,
Vikas

[amacati]

Hi Vikas,

yes, we have integrated it into a full RL pipeline. However, the code is still private because we are currently in the process of publishing our results. The environments in the envs folder should be gymnasium-compatible and work with the standard RL frameworks. If you want to build your own custom environments, you may also be interested in https://github.com/utiasDSL/lsy_drone_racing, which implements more complex logic on top of crazyflow.

Please let us know if the sim is missing something for your use-cases! And if you do create a simple example with sbx, we'd be happy to include it in the examples section as a more complex use case.

[VikasChidananda]

Thanks Martin, I'll take a look.