About the observation space for sawyer robot

[YunchuZhang]

Hi there,

I want to ask that, is there some tricks to set some keys like proprio_observation, proprio_desired_goal, proprio_achieved_goal. Also, are those things redundant for training?

Cause, when i only keep:
state_observation=flat_obs,
state_desired_goal=self._state_goal,

some experiment based on this environment could not converge with soft a-c, could you help explain a little bit about this?

Thanks

[vitchyr]

Yes those other keys are redundant in case you want to use them.