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Thanks for pointing out. I tried changing it and running on the examples from model-zoo, and that has difficulty in learning. The gradients vanish due to use of clamp, maybe that's the reason v was never used. I noticed that without using v, the model still learns to output the values in the given range of torque. I'm experimenting with workarounds to get it working with v.
PendulumEnv
is calculating clamped torque, but using unclamped torque in subsequent calculations. i.e. we calculate:but we don't use
v
in any of the following lines, and we useu
directly.The text was updated successfully, but these errors were encountered: