Why do only some tasks use asymmetric actor critic?

[edwhu]

I'm interested in modifying panda push. But in manipulation_params.py, we can see that only the leap hand tasks use asymmetric actor critic. Is there any reason why we should not use asymmetric AC for panda push?

[btaba]

There isn't a good reason not to use asymmetric for panda push, the env was just developed this way. Asymmetric obs may have helped perf for that env as well.

[edwhu]

Thanks, makes sense!