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Exposes state_dependent_std parameter in rl_cfg for rsl_rl. #4091

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Merged
ooctipus merged 6 commits into from
Dec 8, 2025
Merged

Exposes state_dependent_std parameter in rl_cfg for rsl_rl. #4091

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1567c8d
Add state_dependent_std param
ashwinvkNV Nov 26, 2025
0c692fb
Merge branch 'main' into ashwinvk/rsl_rl_add_param
ashwinvkNV Nov 30, 2025
6925b29
add extension and cahngelog
ashwinvkNV Dec 1, 2025
8ef8adb
Update CHANGELOG with new RSL-RL param
ooctipus Dec 1, 2025
d49d314
Merge branch 'main' into ashwinvk/rsl_rl_add_param
ooctipus Dec 2, 2025
05fe0fd
Merge branch 'main' into ashwinvk/rsl_rl_add_param
ooctipus Dec 8, 2025
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2 changes: 1 addition & 1 deletion source/isaaclab_rl/config/extension.toml
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@@ -1,7 +1,7 @@
[package]

# Note: Semantic Versioning is used: https://semver.org/
version = "0.4.4"
version = "0.4.5"

# Description
title = "Isaac Lab RL"
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11 changes: 11 additions & 0 deletions source/isaaclab_rl/docs/CHANGELOG.rst
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@@ -1,6 +1,17 @@
Changelog
---------



0.4.5 (2025-12-01)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added state_dependent_std rsl_rl param to RSL-RL wrapper.


0.4.4 (2025-10-15)
~~~~~~~~~~~~~~~~~~

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3 changes: 3 additions & 0 deletions source/isaaclab_rl/isaaclab_rl/rsl_rl/rl_cfg.py
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Expand Up @@ -31,6 +31,9 @@ class RslRlPpoActorCriticCfg:
noise_std_type: Literal["scalar", "log"] = "scalar"
"""The type of noise standard deviation for the policy. Default is scalar."""

state_dependent_std: bool = False
"""Whether to use state-dependent standard deviation for the policy. Default is False."""

actor_obs_normalization: bool = MISSING
"""Whether to normalize the observation for the actor network."""

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