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leggedrobotics / rsl_rl

Fast and simple implementation of RL algorithms, designed to run fully on GPU.
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action noise parameterization #7

Open twu-mrc opened 2 years ago

twu-mrc commented 2 years ago

https://github.com/leggedrobotics/rsl_rl/blob/master/rsl_rl/modules/actor_critic.py#L121 The action noise had better use positive parameterization, e.g. self.distribution = Normal(mean, torch.ones_like(mean) + nn.functional.elu(self.std - 1))

AlexanderAbernathy commented 1 month ago

According to @twu-mrc, self.distribution in rsl_rl 1.0.2 version is L121 and 2.0.2 version is L101, in _updatedistribution() function. The self.distribution below the comment 'Action noise' is None.