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hey @btaba, could you please review this pr when you have a chance? |
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Summary
Use independent JAX PRNG keys for randomized state components in Finger and Cartpole resets.
Finger resets reused one key for joint positions and the spinner angle. Cartpole Balance reused entropy between position and velocity initialization. Each random draw now receives a distinct split key.
This changes concrete initial states for a given seed, but removes unintended correlation from the reset distribution.
Tests
FingerSpin,FingerTurnEasy, andCartpoleBalancejax.debug_key_reuse(True)