Local Minimas

[kapsl]

Hi,
thanks for your code! I tested it and it worked pretty well! Basically we have a 7 DOF Robot trying to solve a peg in hole task. It looks like this

https://sites.google.com/view/rl-wo-dynamics-randomization

You see that if the target is inside the peg, being outside of the peg is a local minimum, you would need to go up first and then insert. A mode free approach like SAC manages to do this, but your method fails, which makes sense, as the reward is taken directly from the reward function - which cannot lead it out of the local minimum. Do you know a solution for this?

Another question: What is the score vs. reward in your code? Isnt't the score the same as reward?

lg Manuel