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Consistent resetting through np.random.Generator #232

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eugeneteoh opened this issue Jun 13, 2024 · 1 comment

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eugeneteoh commented Jun 13, 2024

Currently, resetting is not consistent due to two things:

Sampled boundary is random and depends on global np seed (https://github.com/stepjam/RLBench/blob/master/rlbench/backend/spawn_boundary.py#L159)
max_attempts introduces more samples. Even if a global seed is set, objects are not guaranteed to be in the same position (https://github.com/stepjam/RLBench/blob/master/rlbench/backend/scene.py#L127)\

By using np.random.Generator, we can have a seed for a Scene instance, allowing potentially allowing more determinism.
https://github.com/Farama-Foundation/Gymnasium/blob/main/gymnasium/utils/seeding.py

xsw1208 commented Jun 23, 2024

Great, I also find that even if I have set global random seed, the boundary and object position varies.

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