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Fix skrl train/play script configurations when using the --agent argument and rename agent configuration variable #3643

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Fix skrl train/play script configurations when using the --agent argument and rename agent configuration variable #3643

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c084c0b
Fix configuration for the --agent argument
Toni-SM Oct 7, 2025
318dd17
Replace STATES by OBSERVATIONS when defining model's inputs
Toni-SM Oct 7, 2025
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1 change: 1 addition & 0 deletions scripts/reinforcement_learning/skrl/play.py
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Original file line number Diff line number Diff line change
Expand Up @@ -121,6 +121,7 @@
agent_cfg_entry_point = "skrl_cfg_entry_point" if algorithm in ["ppo"] else f"skrl_{algorithm}_cfg_entry_point"
else:
agent_cfg_entry_point = args_cli.agent
algorithm = agent_cfg_entry_point.split("_cfg")[0].split("skrl_")[-1].lower()


@hydra_task_config(args_cli.task, agent_cfg_entry_point)
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1 change: 1 addition & 0 deletions scripts/reinforcement_learning/skrl/train.py
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Expand Up @@ -119,6 +119,7 @@
agent_cfg_entry_point = "skrl_cfg_entry_point" if algorithm in ["ppo"] else f"skrl_{algorithm}_cfg_entry_point"
else:
agent_cfg_entry_point = args_cli.agent
algorithm = agent_cfg_entry_point.split("_cfg")[0].split("skrl_")[-1].lower()


@hydra_task_config(args_cli.task, agent_cfg_entry_point)
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4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/agents/skrl_ppo_cfg.yaml
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Expand Up @@ -19,7 +19,7 @@ models:
initial_log_std: 0.0
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [1024, 512, 256, 128]
activations: elu
output: ACTIONS
Expand All @@ -28,7 +28,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [1024, 512, 256, 128]
activations: elu
output: ONE
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4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/direct/ant/agents/skrl_ppo_cfg.yaml
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Expand Up @@ -19,7 +19,7 @@ models:
initial_log_std: 0.0
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [256, 128, 64]
activations: elu
output: ACTIONS
Expand All @@ -28,7 +28,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [256, 128, 64]
activations: elu
output: ONE
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4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/skrl_flat_ppo_cfg.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ models:
initial_log_std: 0.0
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [128, 128, 128]
activations: elu
output: ACTIONS
Expand All @@ -28,7 +28,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [128, 128, 128]
activations: elu
output: ONE
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4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/skrl_rough_ppo_cfg.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ models:
initial_log_std: 0.0
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [512, 256, 128]
activations: elu
output: ACTIONS
Expand All @@ -28,7 +28,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [512, 256, 128]
activations: elu
output: ONE
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4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_ippo_cfg.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ models:
initial_log_std: 0.0
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [32, 32]
activations: elu
output: ACTIONS
Expand All @@ -28,7 +28,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [32, 32]
activations: elu
output: ONE
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4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_mappo_cfg.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ models:
initial_log_std: 0.0
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [32, 32]
activations: elu
output: ACTIONS
Expand All @@ -28,7 +28,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [32, 32]
activations: elu
output: ONE
Expand Down
4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_ppo_cfg.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ models:
initial_log_std: 0.0
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [32, 32]
activations: elu
output: ACTIONS
Expand All @@ -28,7 +28,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [32, 32]
activations: elu
output: ONE
Expand Down
4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/skrl_camera_ppo_cfg.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ models:
initial_log_std: 0.0
network:
- name: features_extractor
input: permute(STATES, (0, 3, 1, 2)) # PyTorch NHWC -> NCHW. Warning: don't permute for JAX since it expects NHWC
input: permute(OBSERVATIONS, (0, 3, 1, 2)) # PyTorch NHWC -> NCHW. Warning: don't permute for JAX since it expects NHWC
layers:
- conv2d: {out_channels: 32, kernel_size: 8, stride: 4, padding: 0}
- conv2d: {out_channels: 64, kernel_size: 4, stride: 2, padding: 0}
Expand All @@ -36,7 +36,7 @@ models:
clip_actions: False
network:
- name: features_extractor
input: permute(STATES, (0, 3, 1, 2)) # PyTorch NHWC -> NCHW. Warning: don't permute for JAX since it expects NHWC
input: permute(OBSERVATIONS, (0, 3, 1, 2)) # PyTorch NHWC -> NCHW. Warning: don't permute for JAX since it expects NHWC
layers:
- conv2d: {out_channels: 32, kernel_size: 8, stride: 4, padding: 0}
- conv2d: {out_channels: 64, kernel_size: 4, stride: 2, padding: 0}
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4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/skrl_ppo_cfg.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ models:
initial_log_std: 0.0
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [32, 32]
activations: elu
output: ACTIONS
Expand All @@ -28,7 +28,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [32, 32]
activations: elu
output: ONE
Expand Down
4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/agents/skrl_ppo_cfg.yaml
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Expand Up @@ -19,7 +19,7 @@ models:
initial_log_std: 0.0
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [256, 128, 64]
activations: elu
output: ACTIONS
Expand All @@ -28,7 +28,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [256, 128, 64]
activations: elu
output: ONE
Expand Down
4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/agents/skrl_ppo_cfg.yaml
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Expand Up @@ -19,7 +19,7 @@ models:
initial_log_std: 0.0
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [400, 200, 100]
activations: elu
output: ACTIONS
Expand All @@ -28,7 +28,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [400, 200, 100]
activations: elu
output: ONE
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6 changes: 3 additions & 3 deletions source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_dance_amp_cfg.yaml
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Expand Up @@ -20,7 +20,7 @@ models:
fixed_log_std: True
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [1024, 512]
activations: relu
output: ACTIONS
Expand All @@ -29,7 +29,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [1024, 512]
activations: relu
output: ONE
Expand All @@ -38,7 +38,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [1024, 512]
activations: relu
output: ONE
Expand Down
6 changes: 3 additions & 3 deletions source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_run_amp_cfg.yaml
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Expand Up @@ -20,7 +20,7 @@ models:
fixed_log_std: True
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [1024, 512]
activations: relu
output: ACTIONS
Expand All @@ -29,7 +29,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [1024, 512]
activations: relu
output: ONE
Expand All @@ -38,7 +38,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [1024, 512]
activations: relu
output: ONE
Expand Down
6 changes: 3 additions & 3 deletions source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_walk_amp_cfg.yaml
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Expand Up @@ -20,7 +20,7 @@ models:
fixed_log_std: True
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [1024, 512]
activations: relu
output: ACTIONS
Expand All @@ -29,7 +29,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [1024, 512]
activations: relu
output: ONE
Expand All @@ -38,7 +38,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [1024, 512]
activations: relu
output: ONE
Expand Down
4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/agents/skrl_ppo_cfg.yaml
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Expand Up @@ -19,7 +19,7 @@ models:
initial_log_std: 0.0
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [64, 64]
activations: elu
output: ACTIONS
Expand All @@ -28,7 +28,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [64, 64]
activations: elu
output: ONE
Expand Down
4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/skrl_ff_ppo_cfg.yaml
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Expand Up @@ -19,7 +19,7 @@ models:
initial_log_std: 0.0
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [400, 400, 200, 100]
activations: elu
output: ACTIONS
Expand All @@ -28,7 +28,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [512, 512, 256, 128]
activations: elu
output: ONE
Expand Down
4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/skrl_ppo_cfg.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ models:
initial_log_std: 0.0
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [512, 512, 256, 128]
activations: elu
output: ACTIONS
Expand All @@ -28,7 +28,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [512, 512, 256, 128]
activations: elu
output: ONE
Expand Down
4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_ippo_cfg.yaml
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Expand Up @@ -19,7 +19,7 @@ models:
initial_log_std: 0.0
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [512, 256, 128]
activations: elu
output: ACTIONS
Expand All @@ -28,7 +28,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [512, 256, 128]
activations: elu
output: ONE
Expand Down
4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_mappo_cfg.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ models:
initial_log_std: 0.0
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [512, 512, 256, 128]
activations: elu
output: ACTIONS
Expand All @@ -28,7 +28,7 @@ models:
clip_actions: False
network:
- name: net
input: STATES
input: OBSERVATIONS
layers: [512, 512, 256, 128]
activations: elu
output: ONE
Expand Down
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