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google / brax

Massively parallel rigidbody physics simulation on accelerator hardware.
Apache License 2.0
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While loop in generalized/math forces to use grads Forward mode #290

Open gijskoning opened 1 year ago

gijskoning commented 1 year ago

https://github.com/google/brax/blob/280a1c50fa021b6c17a2a3347fea43a2887382bc/brax/v2/math.py#L278

For people who want to calculate gradients over environment steps, this while loop is a bit annoying ;). Forward mode works fine for me now. But I just wanted to point out that maybe the speed optimization is negligible compared to having the possibility for reverse mode gradients?

gijskoning commented 1 year ago

Actually, when looking at the latest Brax updates this can be done by setting 'approximate' to False here: https://github.com/google/brax/blob/673a41f780fe0f137507d1c35286577c48bde4d1/brax/v2/generalized/pipeline.py#L84 I don't need it at the moment. But just wanted to write it here. Do note that the results do change slightly.