Adds FastSAC implementation - #58
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Co-authored-by: Gijs de Jong <berichtaangijs@gmail.com>
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Adds a FastSAC implementation provided by @oxkitsune. Based on the HOLOSAMA implementation
To run it yourself, use:
uv run pal_train Mjlab-Velocity-Flat-FastSAC-Pal-Kangaroo --env.scene.num-envs 4096TODO:
Below is a result after training for 10k iterations (30 minutes on a 5090!!) on a Velocity Tracking task for KANGAROO:
rl-video-step-0.mp4
Ref: https://younggyo.me/fastsac-humanoid/