Wrong expert policy for FetchPush

[vonHartz]

In trying to reproduce your experiments, we have run into the agent not learning in the FetchPush environment. The reason seems to be a faulty expert policy for this environment. I have attached a rendering of the policy in action illustrating its random behavior.

100.mp4

[PhilipZRH]

Thanks for trying out our code!

For collecting demonstrations for FetchPush, please make sure special_reset is set to 'close' when you initialize the environment. This adds additional steps at episode start which move the gripper to the correct side of the block.

Please feel free to re-open this thread if there are any other questions!