From 4a310fd0825fc8b42706a5f04c026cdd0ac3431d Mon Sep 17 00:00:00 2001 From: "alessandro.assirelli" Date: Fri, 9 May 2025 16:37:26 +0200 Subject: [PATCH 1/6] add clip for rsl_rl distillation training --- source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py b/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py index de4db2d2efb..4bd2340b4bc 100644 --- a/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py +++ b/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py @@ -78,3 +78,6 @@ class RslRlDistillationAlgorithmCfg: gradient_length: int = MISSING """The number of environment steps the gradient flows back.""" + + max_grad_norm: float = 1.0 + """The maximum gradient norm used for distillation""" From 96ad726a28de6faa86060acb61082363c4d55b94 Mon Sep 17 00:00:00 2001 From: "alessandro.assirelli" Date: Fri, 9 May 2025 16:50:17 +0200 Subject: [PATCH 2/6] use None as default --- source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py b/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py index 4bd2340b4bc..1f02852c403 100644 --- a/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py +++ b/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py @@ -79,5 +79,5 @@ class RslRlDistillationAlgorithmCfg: gradient_length: int = MISSING """The number of environment steps the gradient flows back.""" - max_grad_norm: float = 1.0 + max_grad_norm: None | float = None """The maximum gradient norm used for distillation""" From a9d03581c802ff9c3957db4dca3707610df10659 Mon Sep 17 00:00:00 2001 From: "alessandro.assirelli" Date: Fri, 9 May 2025 16:56:11 +0200 Subject: [PATCH 3/6] add name to contributors --- CONTRIBUTORS.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md index 41c7708975d..13e98f0d720 100644 --- a/CONTRIBUTORS.md +++ b/CONTRIBUTORS.md @@ -103,6 +103,7 @@ Guidelines for modifications: * Yujian Zhang * Zhengyu Zhang * Ziqi Fan +* Alessandro Assirelli ## Acknowledgements From 0112c85c886252ab25a78c408f03b28e647bde6b Mon Sep 17 00:00:00 2001 From: Alessandro Assirelli Date: Thu, 15 May 2025 18:37:47 +0200 Subject: [PATCH 4/6] added suggestions --- source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py | 2 +- source/isaaclab_rl/setup.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py b/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py index 1f02852c403..3c0b9e02fa9 100644 --- a/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py +++ b/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py @@ -80,4 +80,4 @@ class RslRlDistillationAlgorithmCfg: """The number of environment steps the gradient flows back.""" max_grad_norm: None | float = None - """The maximum gradient norm used for distillation""" + """The maximum norm the gradient is clipped to.""" diff --git a/source/isaaclab_rl/setup.py b/source/isaaclab_rl/setup.py index ada55f47d5e..50e159e0a6c 100644 --- a/source/isaaclab_rl/setup.py +++ b/source/isaaclab_rl/setup.py @@ -44,7 +44,7 @@ "sb3": ["stable-baselines3>=2.1"], "skrl": ["skrl>=1.4.2"], "rl-games": ["rl-games==1.6.1", "gym"], # rl-games still needs gym :( - "rsl-rl": ["rsl-rl-lib==2.3.1"], + "rsl-rl": ["rsl-rl-lib==2.3.2"], } # Add the names with hyphens as aliases for convenience EXTRAS_REQUIRE["rl_games"] = EXTRAS_REQUIRE["rl-games"] From 870e54537e7497afaa51d95bf39701574e65708f Mon Sep 17 00:00:00 2001 From: Alessandro Assirelli Date: Sat, 24 May 2025 10:37:56 +0200 Subject: [PATCH 5/6] fix indent --- source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py b/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py index 3c0b9e02fa9..65c25efe6c2 100644 --- a/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py +++ b/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py @@ -80,4 +80,4 @@ class RslRlDistillationAlgorithmCfg: """The number of environment steps the gradient flows back.""" max_grad_norm: None | float = None - """The maximum norm the gradient is clipped to.""" + """The maximum norm the gradient is clipped to.""" From 597968653db001baade8fa95764352deb17914f4 Mon Sep 17 00:00:00 2001 From: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Date: Mon, 2 Jun 2025 09:53:12 +0200 Subject: [PATCH 6/6] Apply suggestions from code review Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> --- source/isaaclab_rl/setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab_rl/setup.py b/source/isaaclab_rl/setup.py index 50e159e0a6c..749f2cf909a 100644 --- a/source/isaaclab_rl/setup.py +++ b/source/isaaclab_rl/setup.py @@ -44,7 +44,7 @@ "sb3": ["stable-baselines3>=2.1"], "skrl": ["skrl>=1.4.2"], "rl-games": ["rl-games==1.6.1", "gym"], # rl-games still needs gym :( - "rsl-rl": ["rsl-rl-lib==2.3.2"], + "rsl-rl": ["rsl-rl-lib==2.3.3"], } # Add the names with hyphens as aliases for convenience EXTRAS_REQUIRE["rl_games"] = EXTRAS_REQUIRE["rl-games"]