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fix(isaaclab): normalize observations before first policy act #8

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fix(isaaclab): normalize observations before first policy act #8

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6 changes: 6 additions & 0 deletions isaaclab_experiments/isaaclab_fpo/isaaclab_fpo/runners/on_policy_runner.py
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Expand Up @@ -169,6 +169,12 @@ def learn(self, num_learning_iterations: int, init_at_random_ep_len: bool = Fals
obs, extras = self.env.get_observations()
privileged_obs = extras["observations"].get(self.privileged_obs_type, obs)
obs, privileged_obs = obs.to(self.device), privileged_obs.to(self.device)
# Normalize before the first act() call (fixes #6).
obs = self.obs_normalizer(obs)
if self.privileged_obs_type is not None:
privileged_obs = self.privileged_obs_normalizer(privileged_obs)
else:
privileged_obs = obs
self.train_mode() # switch to train mode (for dropout for example)

# Book keeping
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