Brax (https://github.com/google/brax)

How to run:

Ant python runner.py --train --file rl_games/configs/brax/ppo_ant.yaml
Humanoid python runner.py --train --file rl_games/configs/brax/ppo_humanoid.yaml

Visualization of the trained policy:

brax_visualization.ipynb

Results:

Ant fps step: 1692066.6 fps total: 885603.1
Humanoid fps step: 1244450.3 fps total: 661064.5
ur5e fps step: 1116872.3 fps total: 627117.0