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fixed a bug with rnn padding and unpadding #12

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fixed a bug with rnn padding and unpadding #12

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202ba8c
fixed a bug with rnn padding and unpadding
b-vm Sep 28, 2023
6d14def
simplified solution, pr comments
b-vm Oct 24, 2023
ae3e445
synced up with other pr, still works
b-vm Oct 24, 2023
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8 changes: 6 additions & 2 deletions rsl_rl/utils/utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,10 +58,14 @@ def split_and_pad_trajectories(tensor, dones):
trajectory_lengths_list = trajectory_lengths.tolist()
# Extract the individual trajectories
trajectories = torch.split(tensor.transpose(1, 0).flatten(0, 1),trajectory_lengths_list)
# add at least one full length trajectory
trajectories = trajectories + (torch.zeros(tensor.shape[0], tensor.shape[-1], device=tensor.device), )
# pad the trajectories to the length of the longest trajectory
padded_trajectories = torch.nn.utils.rnn.pad_sequence(trajectories)
# remove the added tensor
padded_trajectories = padded_trajectories[:, :-1]


trajectory_masks = trajectory_lengths > torch.arange(0, tensor.shape[0], device=tensor.device).unsqueeze(1)
trajectory_masks = trajectory_lengths > torch.arange(0, padded_trajectories.shape[0], device=tensor.device).unsqueeze(1)
return padded_trajectories, trajectory_masks

def unpad_trajectories(trajectories, masks):
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