Adds perceptive actor-critic class #114
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ClemensSchwarke
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Oct 6, 2025
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Hey @pascal-roth, very cool, thanks a lot! One nit: would you be fine with calling the new module actor_critic_perceptive to match the actor_critic_recurrent naming?
| from rsl_rl.utils import resolve_nn_activation | ||
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| class CNN(nn.Sequential): |
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Can we add a small description of the architecture here, similar to the mlp?
"""Multi-layer perceptron.
The MLP network is a sequence of linear layers and activation functions. The
last layer is a linear layer that outputs the desired dimension unless the
last activation function is specified.
It provides additional conveniences:
- If the hidden dimensions have a value of ``-1``, the dimension is inferred
from the input dimension.
- If the output dimension is a tuple, the output is reshaped to the desired
shape.
"""
| print(f"Critic MLP: {self.critic}") | ||
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| # Action noise | ||
| self.noise_std_type = noise_std_type |
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I think it would be nice to add the state-dependent action noise that is now part of the actor critic module.
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Adds a new perceptive actor-critic class, that can define CNN layers for every 2D observation term.
Example usage shown in IsaacLab isaac-sim/IsaacLab#3467