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Preserve actuator delay state across partial resets - #1218
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kevinzakka merged 6 commits intoNov 1, 2026
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Scope reset-time control writes and history backfills to the reset environments, preserving other environments' delay buffers, lag schedules, and controls. Cover explicit and automatic resets, initialization, and builtin, fused, and learned actuator paths. Fixes mujocolab#1216
Preserve the partial-reset changelog entry alongside the upstream viewer-reset and wandb-tags entries.
Preserve the partial-reset fix alongside the latest upstream changelog entries and MuJoCo 3.16 changes. Validated with make check and make test-cpu (1107 passed, 13 skipped), plus upstream-versus-fixed partial-reset regression reproductions.
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Hi, I’d appreciate your thoughts on whether the reset-scoping approach in this PR fits mjlab’s design. I added a cartpole reproduction and quantitative results in #1216, showing that unrelated resets can change untouched environments’ trajectories and rewards. This matters for our robot training with a 125 ms actuator delay, particularly for safety evaluation. Are there any concerns about the approach, or changes you’d like me to make? Thanks for your time! |
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Partial resets recomputed actuator controls for the whole batch, advancing delay histories and changing controls in environments whose physics had not advanced. Scope reset-time writes and history backfills to the reset environments, including learned actuator histories, while keeping one delay update per physics substep. Regression tests cover explicit and automatic resets, initialization, unchanged trajectories, and builtin/fused control paths. Validated with
make checkand CPUmake test(1094 passed, 13 skipped).Fixes #1216