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Denys88 / rl_games

RL implementations
MIT License
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Latest version of rl_games not compatible with Isaac Gym #175

Closed LeeChunHei closed 2 years ago

LeeChunHei commented 2 years ago

Hi, I was trying to update rl_games to the latest 1.4.0 version. However, it shows that the latest version of rl_games failed to achieve the same performance in 1.1.4 which the Isaac Gym requires.

The environment I'm testing with is Humanoid, and the command I used is as follows: python train.py task=Humanoid headless=True and python train.py task=Humanoid checkpoint=runs/Humanoid/nn/last_Humanoid_ep_500_rew_5396.84.pth test=True num_envs=9

When using 1.1.4, the humanoids can run forward, but with the latest version of rl_games, all the humanoids just collapse where they start.

May I know the changes between 1.1.4 and the latest version? Or should I change something for the yaml config file to make it work in the latest version?

Denys88 commented 2 years ago

Hi, as far as I know they didnt release next IsaacGymEnvs yet, Could you try my isaac gym envs fork please? I moved observation normalization inside the model it might be a reason why it doesnt work for you.

LeeChunHei commented 2 years ago

Hi, as far as I know they didnt release next IsaacGymEnvs yet,

Could you try my isaac gym envs fork please?

I moved observation normalization inside the model it might be a reason why it doesnt work for you.

Hi, I think that is the the reason of it failing. I tried the fix you mentioned in https://github.com/Denys88/rl_games/issues/121#issuecomment-1048322560 and it works again.

Denys88 commented 2 years ago
ViktorM commented 2 years ago

Hello @LeeChunHei. The next version of IsaacGymEnvs will be fully compatible with the latest version of rl_games.

LeeChunHei commented 2 years ago

Hello @LeeChunHei. The next version of IsaacGymEnvs will be fully compatible with the latest version of rl_games.

Hello @ViktorM, may I know if the next version of IsaacGymEnvs coming soon?