Is it possible to train a DRL-based robot controller with transformers using TRL?

[H-Hisamichi]

Hello everyone,

I am developing a DRL-based controller for a legged robot. However, for multi-purpose robots, I feel that using only an MLP has its limitations.
Therefore, I am considering applying transformers, but I am not sure whether TRL is suitable for integration with frameworks like Isaac Lab.
Since I am a beginner when it comes to transformers, I would greatly appreciate any advice or insights.