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Fix episode metrics aggregation in EpisodeWrapper #654

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Merged
btaba merged 1 commit into from
Jan 2, 2026
Merged

Fix episode metrics aggregation in EpisodeWrapper #654

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6 changes: 3 additions & 3 deletions brax/envs/wrappers/training.py
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Original file line number Diff line number Diff line change
Expand Up @@ -114,14 +114,14 @@ def f(state, _):

# Aggregate state metrics into episode metrics
prev_done = state.info['episode_done']
state.info['episode_metrics']['sum_reward'] += jp.sum(rewards, axis=0)
state.info['episode_metrics']['sum_reward'] *= (1 - prev_done)
state.info['episode_metrics']['length'] += self.action_repeat
state.info['episode_metrics']['sum_reward'] += jp.sum(rewards, axis=0)
state.info['episode_metrics']['length'] *= (1 - prev_done)
state.info['episode_metrics']['length'] += self.action_repeat
for metric_name in state.metrics.keys():
if metric_name != 'reward':
state.info['episode_metrics'][metric_name] += state.metrics[metric_name]
state.info['episode_metrics'][metric_name] *= (1 - prev_done)
state.info['episode_metrics'][metric_name] += state.metrics[metric_name]
state.info['episode_done'] = done
return state.replace(done=done)

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