# RL

## RL with `stable-baselines3`

We provide a basic RL training example.

RL framework: `stable-baselines3`

RL algorithm: `PPO`

Simulator: `IsaacSim` and `MuJoCo`

```bash
python metasim/scripts/RL/train_sb3.py --sim isaaclab --task Stand --num_envs 32 --wandb_entity <your_wandb_entity_name>
```

```bash
python metasim/scripts/RL/train_sb3.py --sim mujoco --task Stand --num_envs 32 --wandb_entity <your_wandb_entity_name>
```

Tasks:
- `Walk`
- `Run`
- `Stand`