setting done as False in robomimic

[lakshitadodeja]

Hi,

I see that in robomimic wrapper. the done value is being automatically set as False. If we want to change it to its true value, is returning the actual done value enough ? Or are there some other changes in the training code that we need to handle for trajectories that terminate early ?

[allenzren]

Hi! I am not sure exactly right now. Could you give a try and see if the done value from robosuite corresponds to termination?

[lakshitadodeja]

I tried to check if the task for successful from robomimic and passed done as -

truncated = self.env.env._check_success()
done = terminated or truncated

The success rate from the evaluation increased with that (the one with true done is the one with changes) -

Though the number of eval episodes also increased, probably because some episodes ended early ?

Is this expected ?