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use lerp for polyak updates #2136

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use lerp for polyak updates #2136

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ClashLuke
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slightly increases numerical precision and speed

ideally, we'd put this into a torch.compile-d block, but it's not clear whether SB3 wants to support/use compile.

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@hxx185053 hxx185053 hxx185053 approved these changes

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@ClashLuke @hxx185053