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fixes sampler

This commit is contained in:
Mayank Mittal 2024-12-20 22:44:57 +01:00
parent dbbae6f103
commit c6336b1e70
1 changed files with 8 additions and 3 deletions
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11
rsl_rl/runners/on_policy_runner.py
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@ -89,9 +89,14 @@ class OnPolicyRunner:
if init_at_random_ep_len: if init_at_random_ep_len:
if isinstance(self.env.max_episode_length, float): if isinstance(self.env.max_episode_length, float):
raise ValueError("Cannot initialize at random episode length with float max_episode_length!") raise ValueError("Cannot initialize at random episode length with float max_episode_length!")
self.env.episode_length_buf = torch.randint_like( elif isinstance(self.env.max_episode_length, torch.Tensor):
self.env.episode_length_buf, high=self.env.max_episode_length # ref: https://github.com/pytorch/pytorch/issues/89438
) samples = torch.randint(2**63 - 1, size=self.env.episode_length_buf.shape, device=self.env.episode_length_buf.device)
self.env.episode_length_buf = samples % self.env.max_episode_length
else:
self.env.episode_length_buf = torch.randint_like(
self.env.episode_length_buf, high=self.env.max_episode_length
)
obs, extras = self.env.get_observations() obs, extras = self.env.get_observations()
critic_obs = extras["observations"].get("critic", obs) critic_obs = extras["observations"].get("critic", obs)
obs, critic_obs = obs.to(self.device), critic_obs.to(self.device) obs, critic_obs = obs.to(self.device), critic_obs.to(self.device)