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NVlabs / DiffRL

[ICLR 2022] Accelerated Policy Learning with Parallel Differentiable Simulation
https://short-horizon-actor-critic.github.io/
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What is MM_caching_frequency? #14

Closed Jogima-cyber closed 1 year ago

Jogima-cyber commented 1 year ago

Hello, thank you for open-sourcing all this very interesting work. I don't understand what "MM_caching_frequency" is and why it changes throughout the configuration files.

eanswer commented 1 year ago

MM_caching_frequency defines the frequency to re-compute the mass matrix for physics simulation. It is a common technique in graphics to speed up the simulation. With a small MM_caching_frequency, it will update the mass matrix more frequently which results in a more accurate simulation while being more time-consuming, and vice versa.

Jogima-cyber commented 1 year ago

Thank you very much, your explanation was perfect!