Finalized factoring out projections

metastable_baselines/misc/norm.py

@@ -1,31 +0,0 @@
-import torch as th
-from torch.distributions.multivariate_normal import _batch_mahalanobis
-
-
-def mahalanobis_alt(u, v, std):
-    """
-    Stolen from Fabian's Code (Public Version)
-
-    """
-    delta = u - v
-    return th.triangular_solve(delta, std, upper=False)[0].pow(2).sum([-2, -1])
-
-
-def mahalanobis(u, v, chol):
-    delta = u - v
-    return _batch_mahalanobis(chol, delta)
-
-
-def frob_sq(diff, is_spd=False):
-    # If diff is spd, we can use a (probably) more performant algorithm
-    if is_spd:
-        return _frob_sq_spd(diff)
-    return th.norm(diff, p='fro', dim=tuple(range(1, diff.dim()))).pow(2)
-
-
-def _frob_sq_spd(diff):
-    return _batch_trace(diff @ diff)
-
-
-def _batch_trace(x):
-    return th.diagonal(x, dim1=-2, dim2=-1).sum(-1)

metastable_baselines/ppo/ppo.py

@@ -336,8 +336,7 @@ class PPO(GaussianRolloutCollectorAuxclass, OnPolicyAlgorithm):
 
                 policy_loss = surrogate_loss + self.ent_coef * entropy_loss + \
                     trust_region_loss + self.action_coef * action_loss
-                import pdb
-                pdb.set_trace()
+
                 pg_losses.append(policy_loss.item())
 
                 loss = policy_loss + self.vf_coef * value_loss