Kick warm up observation bufferand tighter kick timings#999
Open
Flova wants to merge 10 commits into
Open
Conversation
Signed-off-by: Florian Vahl <florian@flova.de>
Continuously fill the kick's observation histories while the kick is not running, so activation starts from a saturated history without paying for network inference. - RLNode: call a new overridable passive_update() hook when inactive (default no-op; other nodes unchanged) instead of returning immediately. - JointHandler: subscribe to the executed joint_command and add reconstruct_previous_action(), inverting the action->joint-command mapping to mock the previous-action term while the policy is idle. - KickBallNode: override passive_update() to advance all histories with the reconstructed action and skip inference/publish; initialize_observation no longer wipes the now-continuously-warm buffers.
Signed-off-by: Florian Vahl <florian@flova.de>
Signed-off-by: Florian Vahl <florian@flova.de>
Signed-off-by: Florian Vahl <florian@flova.de>
Signed-off-by: Florian Vahl <florian@flova.de>
Signed-off-by: Florian Vahl <florian@flova.de>
Signed-off-by: Florian Vahl <florian@flova.de>
Signed-off-by: Florian Vahl <florian@flova.de>
…kick-warm-observation-buffer Signed-off-by: Florian Vahl <florian@flova.de>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
[
Screencast.From.2026-07-04.09-35-06_short.mp4
](url)
Checklist
pixi run build