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FIX: penalty for episode length termination #453

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FIX: penalty for episode length termination #453

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3 changes: 2 additions & 1 deletion ksim/task/ppo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,8 @@ def compute_gae_and_targets_for_sample(
trunc_mask_t = jnp.where(successes_t, 1.0, 0.0)
bootstrapped_rewards_t = rewards_t / rollout_length_steps + decay_gamma * values_t * trunc_mask_t

mask_t = jnp.where(dones_t, 0.0, 1.0)
is_failure = dones_t & ~successes_t
mask_t = jnp.where(is_failure, 0.0, 1.0)

# Compute returns and GAE.
deltas_t = bootstrapped_rewards_t + decay_gamma * values_shifted_t * mask_t - values_t
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