A lightning-fast C++ implementation and extension of RLGym-PPO, as well as rlgym-sim

Results will vary depending on hardware, but it should be substantially faster for everyone.

On my computer (Intel i5-11400 and GTX 3060 Ti), this repo is about 5x faster than Python RLGym-PPO on default settings. Collection has the most substantial benefit, and I can reach upwards of 70ksps on my computer in C++, vs 10k in Python.

This implementation adds several features that RLGym-PPO/rlgym-sim doesn't have (mostly because it does not fit in Aech's scope for RLGym-PPO):

• Different multithreaded collection model that doesn't require constant cross-thread communication
• Can run far more environments (hundreds to thousands) simultaneously using far less memory per environment
• Actual multithreading used instead of separate processes and shared memory
• Fully-configurable skill tracking system using ELO
• Full RocketSim CarState/BallState access in GameState (e.g. player.carState.isFlipping)
• RocketSim Arena access in GameState
• Built-in zero-sum rewards with adjustable opponent scale
• Built-in padded obs builder with slot shuffling
• Support for more advanced state setters via RocketSim Arena access
• Added possibility for rewards to override their behavior across all players
• Support for collection during learn
• Support for auto-casted learn
• Better multithreading of learn for CPU-only
• Built-in gradient noise measurement system
• Added callbacks for steps and iterations
• Uses RocketSim Vec class with various quality-of-life functions like .Length(), .Dist(), etc.

According to several different learning tests, RLGymPPO_CPP and RLGym-PPO have no differences in learning.

• Clone this repository recursively: git clone https://github.com/ZealanL/RLGymPPO_CPP --recurse
• If you have an NVIDIA GPU, install CUDA 11.8: https://developer.nvidia.com/cuda-11-8-0-download-archive
• Download libtorch for CUDA 11.8 (or for CPU if you don't have an NVIDIA GPU): https://pytorch.org/get-started/locally/
• Put the libtorch folder inside RLGymPPO_CPP/RLGymPPO_CPP
• Open the main RLGymPPO_CPP folder as a CMake project (if you're on Windows, I recommend Visual Studio with the C++ Desktop package)
• Change the build type to RelWithDebInfo (Debug build type is very slow and not really supported) (don't worry you can still debug it)
• Make sure you have a global Python installation with wandb installed (unless you have turned off metrics)
• Build it
• Add your collision_meshes folder to wherever the executable is running

You can do this using the script tools/checkpoint_converter.py

I've confirmed that this script works perfectly, however you will need to make sure the obs builder and action parser match perfectly in Python

• LibTorch (ideally with CUDA support)
• https://github.com/ZealanL/RLGymSim_CPP (already included)
• https://github.com/nlohmann/json (already included)