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Fix EpisodeWrapper dropping sub-step metrics during action_repeat (#610) #670

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Fix EpisodeWrapper dropping sub-step metrics during action_repeat (#610) #670

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16 changes: 13 additions & 3 deletions brax/envs/wrappers/training.py
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Original file line number Diff line number Diff line change
Expand Up @@ -98,10 +98,20 @@ def reset(self, rng: jax.Array) -> State:
def step(self, state: State, action: jax.Array) -> State:
def f(state, _):
nstate = self.env.step(state, action)
return nstate, nstate.reward
return nstate, (nstate.reward, nstate.metrics)

state, rewards = jax.lax.scan(f, state, (), self.action_repeat)
state, (rewards, all_metrics) = jax.lax.scan(
f, state, (), self.action_repeat
)
state = state.replace(reward=jp.sum(rewards, axis=0))
# Sum per-step metrics across action-repeat sub-steps so that
# sparse or per-step metrics (e.g. action-change penalties) are
# correctly accumulated instead of only reflecting the last
# sub-step. See #610.
summed_metrics = jax.tree_util.tree_map(
lambda m: jp.sum(m, axis=0), all_metrics
)
state = state.replace(metrics=summed_metrics)
steps = state.info['steps'] + self.action_repeat
one = jp.ones_like(state.done)
zero = jp.zeros_like(state.done)
Expand Down Expand Up @@ -257,4 +267,4 @@ def step(sys, s, a):
res = jax.vmap(step, in_axes=[self._in_axes, 0, 0])(
self._sys_v, state, action
)
return res
return res