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[gym] Enable multi-GPU support with PPO when mirror_mat are defined #774

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Apr 27, 2024
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[gym] Enable multi-GPU support with PPO when mirror_mat are defined #774

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4 changes: 4 additions & 0 deletions python/gym_jiminy/rllib/gym_jiminy/rllib/ppo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -155,6 +155,10 @@ def _compute_mirrored_value(value: torch.Tensor,
"""Compute mirrored value from observation space based on provided
mirroring transformation.
"""
# Make sure value and mirror_mat are on the same device.
# This is needed for multi-GPU training.
mirror_mat = mirror_mat.to(value.device)

def _update_flattened_slice(data: torch.Tensor,
shape: Tuple[int, ...],
mirror_mat: torch.Tensor) -> torch.Tensor:
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