PPO Training

Get Started PPO (Simple Examples)

For quick start examples and simpler PPO training, see the MetaSim get started tutorials:

• Infrastructure Overview: See RL Infrastructure for complete setup

• Quick Examples: See Quick Start Examples for ready-to-run commands

• PPO Reaching Tutorial: See PPO Reaching for detailed walkthrough

Simple PPO Commands

# Basic PPO training with Franka robot
python get_started/rl/0_ppo.py --task reach_origin --robot franka --sim isaacgym

# PPO with Gym interface
python get_started/rl/0_ppo_gym.py --sim mjx --num-envs 256

Choosing Between Approaches

• Use RoboVerse Learn PPO for: Advanced research, complex tasks, customizable configs

• Use Get Started PPO for: Quick prototyping, simple tasks, learning the basics