# RSL_RL P4RL Branch (Repo for ICLR 2026 Submission "Pretraining in Actor Critic Reinforcement Learning for Robot Motion Control")

This repo includes implementation for PIDM and its integration to actor critic networks in RL. 

`rsl_rl/addons` contains PIDM code, predominantly in `rsl_rl/addons/invdynamics`. Other subfolders under `rsl_rl/addons` contains implementations from other attempts to pretraining and is not needed for PIDM. 

