From bcee4e99547420daac4e1665867d07749c06ea51 Mon Sep 17 00:00:00 2001 From: Kevin Zakka Date: Fri, 12 Apr 2024 08:26:01 -0700 Subject: [PATCH] Add more details to reproducibility section. PiperOrigin-RevId: 624186625 Change-Id: Ibceace5b2b3d84c9cf0a179adfb6638450f9cb9f --- doc/computation/index.rst | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/doc/computation/index.rst b/doc/computation/index.rst index 8db4d378..aebb5046 100644 --- a/doc/computation/index.rst +++ b/doc/computation/index.rst @@ -1663,10 +1663,10 @@ important caveats: systems with contact. Contact events have high `Lyapunov exponents `__; this is a property of any rigid-body simulator (and indeed of `real-world physics `__) and is not MuJoCo-specific. -- Exact reproducibillity is only guaranteed within a **single version**. Small numerical differences are quite common - between versioned releases, for example due to code optimizations. This means that when saving an initial state and an - open-loop control sequence, the resulting rolled-out trajectory will be identical within the same version but will - likely be different between MuJoCo versions. +- Exact reproducibility is only guaranteed within a **single version**, on the **same architecture**. Small numerical + differences are quite common between versioned releases, for example due to code optimizations. This means that when + saving an initial state and an open-loop control sequence, the resulting rolled-out trajectory will be identical + within the same version, but will likely be different between MuJoCo versions or different operating systems. .. _derivatives: