add config for distillation

Author: ClemensSchwarke

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/__init__.py

@@ -33,6 +33,26 @@
     },
 )
 
+gym.register(
+    id="Isaac-Velocity-Flat-Anymal-D-Distillation-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.flat_env_cfg:AnymalDFlatEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_distillation_cfg:AnymalDFlatDistillationRunnerCfg",
+    },
+)
+
+gym.register(
+    id="Isaac-Velocity-Flat-Anymal-D-Distillation-Play-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.flat_env_cfg:AnymalDFlatEnvCfg_PLAY",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_distillation_cfg:AnymalDFlatDistillationRunnerCfg",
+    },
+)
+
 gym.register(
     id="Isaac-Velocity-Rough-Anymal-D-v0",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/rsl_rl_distillation_cfg.py

@@ -0,0 +1,35 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from isaaclab.utils import configclass
+
+from isaaclab_rl.rsl_rl import (
+    RslRlDistillationAlgorithmCfg,
+    RslRlDistillationRunnerCfg,
+    RslRlDistillationStudentTeacherCfg,
+)
+
+
+@configclass
+class AnymalDFlatDistillationRunnerCfg(RslRlDistillationRunnerCfg):
+    num_steps_per_env = 120
+    max_iterations = 300
+    save_interval = 50
+    experiment_name = "anymal_d_flat"
+    obs_groups = {"policy": ["policy"], "teacher": ["policy"]}
+    policy = RslRlDistillationStudentTeacherCfg(
+        init_noise_std=0.1,
+        noise_std_type="scalar",
+        student_obs_normalization=False,
+        teacher_obs_normalization=False,
+        student_hidden_dims=[128, 128, 128],
+        teacher_hidden_dims=[128, 128, 128],
+        activation="elu",
+    )
+    algorithm = RslRlDistillationAlgorithmCfg(
+        num_learning_epochs=2,
+        learning_rate=1.0e-3,
+        gradient_length=15,
+    )