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[BugFix] RSSMRollout not advancing state/belief across time steps in Dreamer #3236

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[BugFix] RSSMRollout not advancing state/belief across time steps in Dreamer #3236

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3 changes: 3 additions & 0 deletions torchrl/modules/models/model_based.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
# from torchrl.modules.tensordict_module.rnn import GRUCell
from torch.nn import GRUCell
from torchrl._utils import timeit
from torchrl.envs.utils import step_mdp

from torchrl.modules.models.models import MLP

Expand Down Expand Up @@ -261,6 +262,8 @@ def forward(self, tensordict):

tensordict_out.append(_tensordict)
if t < time_steps - 1:
# Translate ("next", *) to the non-next key required for the current step input
_tensordict = step_mdp(_tensordict, keep_other=True)
_tensordict = _tensordict.select(*self.in_keys, strict=False)
_tensordict = update_values[t + 1].update(_tensordict)

Expand Down