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RLtools Example: Implementing a Custom Environment

UNIX (Linux / macOS)

git clone https://github.com/rl-tools/example
cd example
git submodule update --init external/rl_tools
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
cmake --build .
./my_pendulum

Windows

On windows you should use cmake --build . --config Release to build the executable. If you have Intel MKL/oneMKL installed you should use the Command Prompt (not PowerShell) and initialize the MKL environment variables before running the commands:

"C:\Program Files (x86)\Intel\oneAPI\setvars.bat"
git clone https://github.com/rl-tools/example
cd example
git submodule update --init external/rl_tools
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
cmake --build . --config Release
Release\my_pendulum.exe

BLAS Backend & Optimizations

This example should work out of the box, but it is relatively slow if you do not activate one of the BLAS backends. Depending on your platform uncomment the set(RL_TOOLS_BACKEND_ENABLE_XXX ON) line in CMakeLists.txt and re-run the previous cmake config and build steps to dispatch to the optimized BLAS routines: This should be substantially faster. To make it even fast you can disable the evaluation episodes (by enabling the BENCHMARK flag in the CMakeLists.txt). Furthermore, you can play with options like -Ofast and -march=native depending on your CPU architecture. For reference, this takes about 600ms on an i9-10885H (on Linux, on Windows around 1.5s for some reason) and about 300ms on an Apple M3.

sudo apt-get update
sudo apt-get install -y cmake build-essential
sudo apt-get install -y wget gnupg
sudo wget -qO- https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB | sudo gpg --dearmor -o /usr/share/keyrings/oneapi-archive-keyring.gpg
echo "deb [signed-by=/usr/share/keyrings/oneapi-archive-keyring.gpg] https://apt.repos.intel.com/oneapi all main" | sudo tee /etc/apt/sources.list.d/oneAPI.list
sudo apt-get update
apt-get install -y intel-oneapi-mkl-devel-2023.1.0

git clone https://github.com/jarro2783/cxxopts.git
cd cxxopts
cmake .
make
sudo cp include/cxxopts.hpp /usr/local/include/