Fix incorrect teacher obs normalizer input size (#116)

tianzong-cheng · web-flow · commit 1c63d8ef0e17 · 2025-10-06T14:18:35.000+02:00
diff --git a/rsl_rl/modules/student_teacher_recurrent.py b/rsl_rl/modules/student_teacher_recurrent.py
@@ -82,8 +82,7 @@ def __init__(
             self.memory_t = Memory(
                 num_teacher_obs, type=rnn_type, num_layers=rnn_num_layers, hidden_size=rnn_hidden_dim
             )
-            num_teacher_obs = rnn_hidden_dim
-        self.teacher = MLP(num_teacher_obs, num_actions, teacher_hidden_dims, activation)
+        self.teacher = MLP(rnn_hidden_dim, num_actions, teacher_hidden_dims, activation)
 
         # teacher observation normalization
         self.teacher_obs_normalization = teacher_obs_normalization

Original file line number	Diff line number	Diff line change
`@@ -82,8 +82,7 @@ def __init__(`
`82`	`82`	`self.memory_t = Memory(`
`83`	`83`	`num_teacher_obs, type=rnn_type, num_layers=rnn_num_layers, hidden_size=rnn_hidden_dim`
`84`	`84`	`)`
`85`		`- num_teacher_obs = rnn_hidden_dim`
`86`		`- self.teacher = MLP(num_teacher_obs, num_actions, teacher_hidden_dims, activation)`
	`85`	`+ self.teacher = MLP(rnn_hidden_dim, num_actions, teacher_hidden_dims, activation)`
`87`	`86`
`88`	`87`	`# teacher observation normalization`
`89`	`88`	`self.teacher_obs_normalization = teacher_obs_normalization`