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tactino merged 1 commit into from
Sep 11, 2026
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docs: correct two README claims an audit found overstated #6

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29 changes: 25 additions & 4 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,18 @@

## ✨ Features

* **No deep learning dependencies**: The policy stays on the server. This side needs only `gymnasium`, `websockets` and `msgpack`, so environments pinned to old `mujoco-py` or `cython<3` can be used with a modern training stack.
* **No deep learning dependencies**: The policy stays on the server. The base
install declares nine runtime dependencies - `gymnasium`, `websockets` and
`msgpack` do the environment and wire work, next to `loguru`, `dm-tree`,
`tyro`, `plugrl-protocol`, `pandas` and `imageio[ffmpeg]` - and none of them
is a deep learning framework, so environments pinned to old `mujoco-py` or
`cython<3` can be used with a modern training stack. E1 measures that bare
install at 30 packages and 224M on Linux with no CUDA wheels
(`plugrl-server/experiments/e1-dependency-conflict/`, round 4). Correction:
this line previously said the client needs "only `gymnasium`, `websockets`
and `msgpack`", which named three of the nine declared dependencies.
`pandas` is declared but is not imported anywhere in `src/` today - it is
weight in the install, not a requirement of the runtime.
* **Distributed communication**: `websockets` plus `msgpack` for asynchronous transfer between the server and any number of env clients, across machines.
* **Modular design**: Separates the environment-side runtime (`plugrl-env-client`) from the shared protocol layer (`plugrl-protocol`).
* **Command-line interface**: A `tyro`-powered CLI for starting and managing env clients.
Expand Down Expand Up @@ -50,16 +61,26 @@ The easiest way to get started is by cloning the repository and using `uv` to ma
uv sync --extra mujoco
```

Everything, with `uv`:
All six extras, with `uv`:

```bash
uv sync --extra mujoco --extra robomimic --extra atari --extra classic --extra libero
uv sync --extra mujoco --extra robomimic --extra atari --extra classic --extra libero --extra d4rl
```

```
pip install -e ".[mujoco, robomimic, atari, classic, libero]"
pip install -e ".[mujoco, robomimic, atari, classic, libero, d4rl]"
```

Correction: these two lines were labelled "Everything" but listed only five
of the six extras `pyproject.toml` declares - `d4rl` was missing, while the
environment table below names it as the extra for `d4rl-v1`. Against the
committed `uv.lock`, all six resolve to 100 packages and the old five to 97
(`uv sync --frozen --dry-run`, uv 0.9.8): `robomimic` already carries `d4rl`
and `mujoco-py`, so the `d4rl` extra itself adds `gymnasium-robotics`,
`mujoco-py-cython3` and `pettingzoo`. Note that "all six" is not a light
install - E1 measures the env client with the `robomimic` extra at 7.2G with
16 CUDA wheels, because robomimic ships its own policy learning code.

Note: `robomimic` and `libero` pull in `egl-probe`, whose legacy CMake build
needs `CMAKE_POLICY_VERSION_MINIMUM=3.5` when using CMake 4+. `uv` is
configured in this repository to apply that automatically. If you install
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