commit 18a600c8137e9ccce144adcccef110d8ca4074e5
author Austin Schuh <austin.linux@gmail.com> Sat Oct 26 16:53:19 2024 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Oct 26 21:54:47 2024 -0700
tree ba1243d1888544e9e895f7f2713d2f31af898a0a
parent a3da4c022889aab1886a48707e12d77905f7f41b

Add flag to set initial alpha for SAC

This makes it so we can start with the correct entropy relatively
easily without having to do lots of gradient decent steps.

Change-Id: I31e04452770269ca843cf80e9ab2299b7955d42c
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

frc971/control_loops/swerve/velocity_controller/model.py

diff --git a/frc971/control_loops/swerve/velocity_controller/model.py b/frc971/control_loops/swerve/velocity_controller/model.py
index f115bbb..b8ec123 100644
--- a/frc971/control_loops/swerve/velocity_controller/model.py
+++ b/frc971/control_loops/swerve/velocity_controller/model.py
@@ -98,6 +98,12 @@
     help='If true, use the solver from dreamer v3 instead of adam.',
 )
 
+absl.flags.DEFINE_float(
+    'initial_logalpha',
+    default=0.0,
+    help='The initial value to set logalpha to.',
+)
+
 HIDDEN_WEIGHTS = 256
 
 LOG_STD_MIN = -20
@@ -445,7 +451,7 @@
         )['params']
 
         if FLAGS.alpha < 0.0:
-            logalpha = 0.0
+            logalpha = FLAGS.initial_logalpha
         else:
             logalpha = jax.numpy.log(FLAGS.alpha)