From cc163fbfd92cff60fefa6442b62abda80ae118ee Mon Sep 17 00:00:00 2001
From: Avnish Narayan <38871737+avnishn@users.noreply.github.com>
Date: Thu, 20 Aug 2020 12:05:26 -0700
Subject: [PATCH] Use max episode length eval in sac evaluation (#1908)

---
 examples/torch/sac_half_cheetah_batch.py | 1 +
 src/garage/torch/algos/sac.py            | 3 ++-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/examples/torch/sac_half_cheetah_batch.py b/examples/torch/sac_half_cheetah_batch.py
index 85da7879e6..79135dc5e9 100755
--- a/examples/torch/sac_half_cheetah_batch.py
+++ b/examples/torch/sac_half_cheetah_batch.py
@@ -56,6 +56,7 @@ def sac_half_cheetah_batch(ctxt=None, seed=1):
               qf2=qf2,
               gradient_steps_per_itr=1000,
               max_episode_length=500,
+              max_episode_length_eval=1000,
               replay_buffer=replay_buffer,
               min_buffer_size=1e4,
               target_update_tau=5e-3,
diff --git a/src/garage/torch/algos/sac.py b/src/garage/torch/algos/sac.py
index 7068379f83..a45b31df82 100644
--- a/src/garage/torch/algos/sac.py
+++ b/src/garage/torch/algos/sac.py
@@ -129,7 +129,8 @@ def __init__(
         self._discount = discount
         self._reward_scale = reward_scale
         self.max_episode_length = max_episode_length
-        self._max_episode_length_eval = max_episode_length_eval
+        self._max_episode_length_eval = (max_episode_length_eval
+                                         or max_episode_length)
 
         self.policy = policy
         self.env_spec = env_spec