> ## Documentation Index
> Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt
> Use this file to discover all available pages before exploring further.

# Policy Inference

Once the trained policy has been trained, it can be deployed in all the supported as well as custom environments.
Setting the `task` as `GRID-Isaac-CustomRL-v0` and specifying the environment in the `env.yaml` enables users to use the trained policy in diverse environments.
A sample `agent.yaml` file for inference is shown below:

```yaml theme={null}
- rsl_rl_agent:
    type: "rsl_rl"
    mode: "play"
    config: 
      resume: false
      video: false
      video_length: 200
      video_interval: 2000
      empirical_normalization: false
      experiment_name: "my_experiment_name"
      load_run: .*
      load_checkpoint: model.*
```