Use dim= instead of axis= in comfort_reward._within_bound#99
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lonexreb wants to merge 1 commit intoNVlabs:mainfrom
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Use dim= instead of axis= in comfort_reward._within_bound#99lonexreb wants to merge 1 commit intoNVlabs:mainfrom
lonexreb wants to merge 1 commit intoNVlabs:mainfrom
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`_within_bound` calls ``torch.all(metric_within_bound, axis=-1)`` -- the NumPy keyword. PyTorch accepts ``axis=`` as a deprecated alias for ``dim=``, so the call still works, but it is the only ``axis=`` usage in the entire file: every other reduction in comfort_reward.py uses the PyTorch-idiomatic ``dim=`` (lines 47, 49, 54, 91, 128, 131). Switch to ``dim=-1`` so the file reads consistently. The semantics are identical (`torch.all(x, axis=-1) == torch.all(x, dim=-1)`). Verified after the change: ``grep -n "axis=" finetune/rl/rewards/comfort_reward.py`` returns nothing. Signed-off-by: lonexreb <[email protected]>
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Problem
_within_boundinfinetune/rl/rewards/comfort_reward.pyis the only spot in the file that uses NumPy-styleaxis=rather than PyTorch'sdim=:Every other reduction in the same file uses the PyTorch-idiomatic
dim=:delta = tensor[..., 1:] - tensor[..., :-1](slicing, fine)torch.diff(yaw, dim=-1)torch.linalg.norm(..., dim=-1)_within_bound(...).mean(2)(positional dim)comfort_metric_dict[name].mean(dim=-1)PyTorch accepts
axis=as a deprecated alias fordim=, so the call still works — this is purely a consistency fix.Fix
One-character change:
axis=-1→dim=-1. Semantics are identical (torch.all(x, axis=-1) == torch.all(x, dim=-1)).Verification
After the change:
grep -n "axis=" finetune/rl/rewards/comfort_reward.pyreturns nothing.