disable empirical normalizer updates on resume training #30
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nikitardn
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Jun 21, 2024
rsl_rl/runners/on_policy_runner.py
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| else: | ||
| until = 1.0e8 | ||
| self.obs_normalizer = EmpiricalNormalization(shape=[num_obs], until=until).to(self.device) | ||
| self.critic_obs_normalizer = EmpiricalNormalization(shape=[num_critic_obs], until=until).to(self.device) |
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I think the correct way to solve the problem is to save and load the internal count of EmpiricalNormalization. The current solution breaks if you resume training before 1.0e8 steps
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https://github.com/tasdep/rsl_rl-1/blob/f2b721aae7c33a34155a0db6135a559b75513334/rsl_rl/runners/on_policy_runner.py#L257-L262
what is saved_dict[infos] intended for? Or should I just add another term to the saved_dict?
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…oaded with the module
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This completely disables the updates if "resume" is in the agent_cfg and True.
Should we check how many iterations/updates were done previously and only disable if over a threshold?