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[Question] Are the action for Mujoco envs normalized ? #3297

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ZINE-KHER opened this issue Oct 26, 2024 · 1 comment
Open

[Question] Are the action for Mujoco envs normalized ? #3297

ZINE-KHER opened this issue Oct 26, 2024 · 1 comment

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@ZINE-KHER
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Hello,

I have a question about action normalization in Mujoco envs ("Reacher-v2","Walker2d-v3","Ant-v3","HalfCheetah-v3","Hopper-v3" , "Humanoid-v3"):
1- When applying an action to a Mujoco env using "env.step(action)", should "action" be normalized ?
2- If yes, what are the range of action that could be applied to each Mujoco env (i.e., [-1, 1]) ?

@pseudo-rnd-thoughts
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The mujoco environments are not normalised, see the action space for the upper and lower bounds

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