Bugs

Table of Contents

• January 15th, 2026
• September 14th, 2025

“Those who cannot remember the past are condemned to repeat it.”

January 15th, 2026

Traceback (most recent call last):
  File "/home/jennifer/aorl/utils/datasets.py", line 261, in sample
    final_state_idxs = self.terminal_locs[np.searchsorted(self.terminal_locs, idxs)]
IndexError: index 500 is out of bounds for axis 0 with size 500

I believe this is caused by not setting the terminal state properly for the last dataset entry…might need to double check this.

September 14th, 2025

Nan, Inf or huge value in QACC at DOF 4. The simulation is unstable. Time = 0.0850.

Also, environment was resetting to arbitrary initial position each time.

Cause. I triggered a mujoco.mj_forward(model, data) call that manually set qpos to some weird values. When qpos is set to invalid values, the simulation might diverge.