Motrix RL

motrix-rl is MotrixLab's RL control plane. It provides framework-neutral training/playback orchestration, checkpoint and run metadata services, backend selection, and the stable motrix_rl.frameworks registration/query entry point. Concrete algorithm implementations are optional plugins, not implementation-owned modules in this package:

• motrix-rl-builtin — built-in motrix.fastsac (FastSAC)
• motrix-rl-skrl — SKRL PPO with JAX or PyTorch
• motrix-rl-rslrl — RSLRL PPO with PyTorch

Plugins register through the motrix_rl.frameworks Python entry-point group when installed. The loader is invoked by registry queries and explicitly before Hydra training-task composition; importing the control plane alone does not hard-code plugin imports. Provider/trainer contracts live in motrix_rl.contracts inside this package.

The control plane has its own general runtime dependencies (including Torch); splitting provider packages does not make motrix-rl itself a dependency-free package. motrix-rl never depends on provider plugins, including through optional extras. The workspace root requires motrix-rl-builtin and motrix-rl-skrl, ensuring FastSAC and SKRL Torch are available for the built-in demos. The root skrl-jax extra adds the JAX backend; rslrl adds the optional RSLRL plugin. Runtime installation does not force other optional workspace packages.

Environment-specific training presets live under configs/task/, while shared provider defaults live under configs/algo_base/. From the workspace root, select a preset with Hydra's task=<env-id>/<method> syntax (run from the activated workspace environment, source .venv/bin/activate):

python scripts/train.py task=cartpole/skrl.ppo
python scripts/train.py task=cartpole/rslrl.ppo
python scripts/train.py task=g1-walk-rough/motrix.fastsac

Install the extra required by the selected provider before training:

sh install.sh --skrl-jax   # JAX (Linux only)
sh install.sh --skrl-torch # PyTorch (default)
sh install.sh --rslrl      # RSLRL (PyTorch only)