Func compute_observations bug

[Huisouan]

When I tried to use func compute_humanoid_observations.It seems that 'GenesisSimulator' object has no attribute 'key_body_ids'.Which should be attribute of env.

[Huisouan]

Plus,if bucket_width <= 1 there will be CUDA error

[tesslerc]

Thanks for the feedback.
I see the first issue indeed occurs when the observations are not set to max_coords_obs. We haven't used that configuration in a while.
You can fix by changing to self.env.key_body_ids. I'd expect some mismatch in the expected observation size that would need fixing in the config.

Regarding the prioritization buckets, we have removed this logic in the latest v2.1 update.
While this provides some more granularity in prioritization, it is very tricky to tune and may cause unwanted behavior in some edge cases.
We now use the periodic evaluations to set the motion priorities. This should be more stable and prevent the crash you experienced.

[Huisouan]

Thank you for your response. I noticed that when the configurations of obs and ref_obs differ, the history_buffer encounters a tensor shape mismatch issue during reset. Perhaps the history_buffer could be initialized differently based on whether a dataset is used, with a separate buffer specifically designed for datasets. I am really looking forward to the 2.1 version update. Could you provide any information on the update schedule?

[tesslerc]

v2.1 was released yesterday with the motion-prioritization fixes.

If I understand correctly, the issue you're encountering is during reset_hist_ref since this line is hard coded to use the max-observations. Correct?
Seems like build_self_obs_demo is also hard-coded to the same max-obs format.

The fix seems to be making it all configurable. Need to dig into the various dependencies to see which of these must have the same format and which can be independent.