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Upstream: https://github.com/michaelgillett/mjlab
Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047
Upstream-Branch: main
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Upstream Snapshot
2026-08-28 15:42:17 +08:00
commit 32a241c28f
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scripts/cloud/train.yaml
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# SkyPilot task for launching mjlab training on Lambda Cloud.
#
# Installs mjlab directly with uv (no Docker).
#
# Usage:
# sky launch scripts/cloud/train.yaml \
# --env TASK=Mjlab-Velocity-Flat-Unitree-G1
name: mjlab-train
resources:
cloud: lambda
accelerators: A100:1
autostop:
idle_minutes: 5
down: true
workdir: .
file_mounts:
~/.netrc: ~/.netrc
envs:
TASK: Mjlab-Velocity-Flat-Unitree-G1
NUM_ENVS: "4096"
MAX_ITERATIONS: "6000"
MUJOCO_GL: egl
setup: |
# Install EGL for MuJoCo headless rendering.
sudo apt-get update && sudo apt-get install -y libegl-dev
# Install uv if not present.
command -v uv || curl -LsSf https://astral.sh/uv/install.sh | sh
source "$HOME/.local/bin/env" 2>/dev/null || true
uv sync --locked --no-dev
run: |
source "$HOME/.local/bin/env" 2>/dev/null || true
uv run train "$TASK" \
--env.scene.num-envs "$NUM_ENVS" \
--agent.max-iterations "$MAX_ITERATIONS" \
--gpu-ids all