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Upstream: https://github.com/michaelgillett/mjlab Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047 Upstream-Branch: main
71 lines
2.4 KiB
ReStructuredText
71 lines
2.4 KiB
ReStructuredText
.. _terminations:
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Terminations
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============
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Termination terms define when an episode ends. Each term is a function
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that returns a boolean per-environment tensor every step. The
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termination manager aggregates all terms and reports the result to the
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training framework as either a terminal failure or a truncation.
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Each term is registered by name with a ``TerminationTermCfg``. Setting
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``time_out=True`` marks the condition as a truncation rather than a
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terminal failure. Truncations map to the ``truncated`` signal in the
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Gym interface; failures map to ``terminated``. This distinction matters
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for value bootstrapping: the agent should estimate future value beyond
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a truncation but not beyond a failure.
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.. code-block:: python
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from mjlab.envs.mdp import terminations
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from mjlab.managers.termination_manager import TerminationTermCfg
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terminations_cfg = {
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"time_out": TerminationTermCfg(
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func=terminations.time_out, time_out=True,
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),
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"fallen": TerminationTermCfg(
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func=terminations.bad_orientation,
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params={"limit_angle": 1.0},
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),
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}
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Built-in termination functions
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-------------------------------
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The functions below are available in ``mjlab.envs.mdp.terminations`` and
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are shared across tasks. Individual tasks may define additional
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termination functions specific to their objective. All termination
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functions return a boolean tensor of shape ``[num_envs]``.
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.. list-table::
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:header-rows: 1
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:widths: 28 72
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* - Function
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- Description
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* - ``time_out``
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- Returns ``True`` when the episode length reaches
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``env.max_episode_length``. Register with ``time_out=True`` so
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the manager treats it as a truncation.
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* - ``bad_orientation``
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- Returns ``True`` when the angle between the asset's up axis and
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world up exceeds ``limit_angle`` (radians).
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* - ``root_height_below_minimum``
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- Returns ``True`` when the asset's root link height is below
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``minimum_height`` (meters).
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* - ``nan_detection``
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- Returns ``True`` when NaN or Inf values appear anywhere in the
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physics state. A safety net to terminate diverged simulations
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cleanly.
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Writing custom termination functions
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-------------------------------------
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Custom termination functions follow the same patterns as reward
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functions. A plain function accepts ``env`` and returns a boolean
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``[num_envs]`` tensor. See :ref:`env-config-term-pattern` for the
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general pattern.
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