The Perpeptual Humanoid Control repository by @zhengyiluo is awesome. I made it simpler by greatly reducing the dependencies and class inheritances, and hooked up PufferLib so that it can train 60k+ SPS in a 4090.

What I Changed

The original PHC repo is powerful but has substantial dependencies and complex inheritance hierarchies. My goals were:

  • Reduce dependencies to make it easier to install and use
  • Simplify the class structure for better readability
  • Integrate PufferLib for massive speedups

The results speak for themselves: training at 60,000+ steps per second on a single RTX 4090.

Repository

Check out the code at github.com/kywch/puffer-phc

Sponsored by Puffer AI.