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Fix mask for RNN hidden states reset #28

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Fix mask for RNN hidden states reset #28

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e57b2ff
Change dones to bool mask for hidden states reset
kaixi287 Jun 13, 2024
4287ee5
Add option for other arguments in PPO class
kaixi287 Aug 8, 2024
ddcc99e
Revert "Add option for other arguments in PPO class"
kaixi287 Aug 8, 2024
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2 changes: 2 additions & 0 deletions rsl_rl/modules/actor_critic_recurrent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -92,6 +92,8 @@ def forward(self, input, masks=None, hidden_states=None):
return out

def reset(self, dones=None):
if dones is not None:
dones = dones.bool()
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what happens if dones is None?

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@kaixi287 kaixi287 Jun 17, 2024 •
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All elements of hidden_state will be set to 0.0.

# When the RNN is an LSTM, self.hidden_states_a is a list with hidden_state and cell_state
for hidden_state in self.hidden_states:
hidden_state[..., dones, :] = 0.0