Questions about “optimizer” in ppo.py

Improbable-AI / walk-these-ways

Sim-to-real RL training and deployment tools for the Unitree Go1 robot.

https://gmargo11.github.io/walk-these-ways/

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Questions about “optimizer” in ppo.py #68

Open dstx123 opened 5 months ago

dstx123 commented 5 months ago

I noticed that “self.optimizer” and “self.adaptation_module_optimizer” are defined in ppo.py, but both of these two optimizers seem to be related to actor_critic. Will this cause parameters to be updated repeatedly in the update function? Looking forward to your answers.