Merge branch 'release'

leggedrobotics · Oct 11, 2024 · 73fd7c6 · 73fd7c6
2 parents a1d25d1 + 2fab9bb
commit 73fd7c6
Showing 1 changed file with 11 additions and 8 deletions.
diff --git a/rsl_rl/runners/on_policy_runner.py b/rsl_rl/runners/on_policy_runner.py
@@ -45,8 +45,8 @@ def __init__(self, env: VecEnv, train_cfg, log_dir=None, device="cpu"):
             self.obs_normalizer = EmpiricalNormalization(shape=[num_obs], until=1.0e8).to(self.device)
             self.critic_obs_normalizer = EmpiricalNormalization(shape=[num_critic_obs], until=1.0e8).to(self.device)
         else:
-            self.obs_normalizer = torch.nn.Identity()  # no normalization
-            self.critic_obs_normalizer = torch.nn.Identity()  # no normalization
+            self.obs_normalizer = torch.nn.Identity().to(self.device)  # no normalization
+            self.critic_obs_normalizer = torch.nn.Identity().to(self.device)  # no normalization
         # init storage and model
         self.alg.init_storage(
             self.env.num_envs,
@@ -109,18 +109,21 @@ def learn(self, num_learning_iterations: int, init_at_random_ep_len: bool = Fals
             with torch.inference_mode():
                 for i in range(self.num_steps_per_env):
                     actions = self.alg.act(obs, critic_obs)
-                    obs, rewards, dones, infos = self.env.step(actions)
-                    obs = self.obs_normalizer(obs)
-                    if "critic" in infos["observations"]:
-                        critic_obs = self.critic_obs_normalizer(infos["observations"]["critic"])
-                    else:
-                        critic_obs = obs
+                    obs, rewards, dones, infos = self.env.step(actions.to(self.env.device))
+                    # move to the right device
                     obs, critic_obs, rewards, dones = (
                         obs.to(self.device),
                         critic_obs.to(self.device),
                         rewards.to(self.device),
                         dones.to(self.device),
                     )
+                    # perform normalization
+                    obs = self.obs_normalizer(obs)
+                    if "critic" in infos["observations"]:
+                        critic_obs = self.critic_obs_normalizer(infos["observations"]["critic"])
+                    else:
+                        critic_obs = obs
+                    # process the step
                     self.alg.process_env_step(rewards, dones, infos)
 
                     if self.log_dir is not None: