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Adds gradient clipping parameter for distillation using RSL-RL #2454

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Merged
merged 9 commits into from
Jun 2, 2025
Merged

Adds gradient clipping parameter for distillation using RSL-RL #2454

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4a310fd
add clip for rsl_rl distillation training
May 9, 2025
96ad726
use None as default
May 9, 2025
a9d0358
add name to contributors
May 9, 2025
0112c85
added suggestions
May 15, 2025
28acf89
Merge branch 'main' into feature/distillation-grad-clip
Mayankm96 May 18, 2025
284abc8
Merge branch 'main' into feature/distillation-grad-clip
ClemensSchwarke May 22, 2025
870e545
fix indent
May 24, 2025
5979686
Apply suggestions from code review
Mayankm96 Jun 2, 2025
5865abe
Merge branch 'main' into feature/distillation-grad-clip
Mayankm96 Jun 2, 2025
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1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Expand Up @@ -35,6 +35,7 @@ Guidelines for modifications:

## Contributors

* Alessandro Assirelli
* Alice Zhou
* Amr Mousa
* Andrej Orsula
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3 changes: 3 additions & 0 deletions source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py
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Expand Up @@ -78,3 +78,6 @@ class RslRlDistillationAlgorithmCfg:

gradient_length: int = MISSING
"""The number of environment steps the gradient flows back."""

max_grad_norm: None | float = None
"""The maximum norm the gradient is clipped to."""
2 changes: 1 addition & 1 deletion source/isaaclab_rl/setup.py
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Expand Up @@ -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==2.3.3"],
}
# Add the names with hyphens as aliases for convenience
EXTRAS_REQUIRE["rl_games"] = EXTRAS_REQUIRE["rl-games"]
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