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Process impl flag for training #200

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Merged
merged 1 commit into from
Sep 5, 2025
Merged

Process impl flag for training #200

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10 changes: 3 additions & 7 deletions learning/train_jax_ppo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -205,6 +205,7 @@ def main(argv):

# Load environment configuration
env_cfg = registry.get_default_config(_ENV_NAME.value)
env_cfg["impl"] = _IMPL.value

ppo_params = get_rl_config(_ENV_NAME.value)

Expand Down Expand Up @@ -396,12 +397,9 @@ def progress(num_steps, metrics):
)

# Load evaluation environment.
config_overrides = {"impl": _IMPL.value}
eval_env = None
if not _VISION.value:
eval_env = registry.load(
_ENV_NAME.value, config=env_cfg, config_overrides=config_overrides
)
eval_env = registry.load(_ENV_NAME.value, config=env_cfg)
num_envs = 1
if _VISION.value:
num_envs = env_cfg.vision_config.render_batch_size
Expand All @@ -412,9 +410,7 @@ def progress(num_steps, metrics):
from rscope import brax as rscope_utils

if not _VISION.value:
rscope_env = registry.load(
_ENV_NAME.value, config=env_cfg, config_overrides=config_overrides
)
rscope_env = registry.load(_ENV_NAME.value, config=env_cfg)
rscope_env = wrapper.wrap_for_brax_training(
rscope_env,
episode_length=ppo_params.episode_length,
Expand Down