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action noise parameterization #7

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twu-mrc opened this issue Jun 19, 2022 · 1 comment
Open

action noise parameterization #7

twu-mrc opened this issue Jun 19, 2022 · 1 comment

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@twu-mrc
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twu-mrc commented Jun 19, 2022 •
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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))
nikitardn pushed a commit that referenced this issue Jun 26, 2023
@fabianje
Merged in feature/empirical_norm (pull request #7)
7950a59 
Feature/empirical norm

Approved-by: Nikita Rudin
Approved-by: Marko Bjelonic
@weifeng-lt weifeng-lt mentioned this issue Jul 23, 2024
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@AlexanderAbernathy
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According to @twu-mrc, self.distribution in rsl_rl 1.0.2 version is L121 and 2.0.2 version is L101, in update_distribution() function. The self.distribution below the comment 'Action noise' is None.

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@twu-mrc @AlexanderAbernathy