Fixes Termination Manager logging to report aggregated percentage of...

Fixes Termination Manager logging to report aggregated percentage of environments done due to each term.  (#3107)

# Description

Currently Termination Manager write current step's done count for each
term if reset is detected. This leads to two problem.
1. User sees different counts just by varying num_envs
2. the count can be over-count or under-count depending on when reset
happens, as pointed out in #2977 (Thanks, @Kyu3224)

The cause of the bug is because we are reporting current step status
into a buffer that suppose to record episodic done. So instead of write
the entire buffer base on current value, we ask the update to respect
the non-reseting environment's old value, and instead of reporting
count, we report percentage of environment that was done due to the
particular term.

Test on Isaac-Velocity-Rough-Anymal-C-v0

Before fix:
<img width="786" height="323" alt="Screenshot from 2025-08-06 22-16-20"
src="https://github.com/user-attachments/assets/4838d612-7f0e-4232-a07e-688b547e91db"
/>
Red: num_envs = 4096, Orange: num_envs = 1024

After fix:

<img width="786" height="323" alt="Screenshot from 2025-08-06 22-16-12"
src="https://github.com/user-attachments/assets/e6e55c21-17ed-42ca-8d94-a19d08611f86"
/>
Red: num_envs = 4096, Orange: num_envs = 1024

Note that curve of the same color ran on same seed, and curves matched
exactly, the only difference is the data gets reported in termination.
The percentage version is a lot more clear in conveying how agent
currently fails, and how much percentage of agent fails, and shows that
increasing num_envs to 4096 helps improve agent avoiding termination by
`base_contact` much quicker than num_envs=1024. Such message is a bit
hard to tell in first image.

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.44.9"
+version = "0.44.10"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.44.10 (2025-08-06)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* The old termination manager in :class:`~isaaclab.managers.TerminationManager` term_done logging logs the instantaneous
+term done count at reset. This let to inaccurate aggregation of termination count, obscuring the what really happening
+during the traing. Instead we log the episodic term done.
+
+
 0.44.9 (2025-07-30)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/managers/termination_manager.py

@@ -60,10 +60,9 @@ class TerminationManager(ManagerBase):
 
         # call the base class constructor (this will parse the terms config)
         super().__init__(cfg, env)
+        self._term_name_to_term_idx = {name: i for i, name in enumerate(self._term_names)}
         # prepare extra info to store individual termination term information
-        self._term_dones = dict()
-        for term_name in self._term_names:
-            self._term_dones[term_name] = torch.zeros(self.num_envs, device=self.device, dtype=torch.bool)
+        self._term_dones = torch.zeros((self.num_envs, len(self._term_names)), device=self.device, dtype=torch.bool)
         # create buffer for managing termination per environment
         self._truncated_buf = torch.zeros(self.num_envs, device=self.device, dtype=torch.bool)
         self._terminated_buf = torch.zeros_like(self._truncated_buf)
@@ -139,9 +138,10 @@ class TerminationManager(ManagerBase):
             env_ids = slice(None)
         # add to episode dict
         extras = {}
-        for key in self._term_dones.keys():
+        last_episode_done_stats = self._term_dones.float().mean(dim=0)
+        for i, key in enumerate(self._term_names):
             # store information
-            extras["Episode_Termination/" + key] = torch.count_nonzero(self._term_dones[key][env_ids]).item()
+            extras["Episode_Termination/" + key] = last_episode_done_stats[i].item()
         # reset all the reward terms
         for term_cfg in self._class_term_cfgs:
             term_cfg.func.reset(env_ids=env_ids)
@@ -161,7 +161,7 @@ class TerminationManager(ManagerBase):
         self._truncated_buf[:] = False
         self._terminated_buf[:] = False
         # iterate over all the termination terms
-        for name, term_cfg in zip(self._term_names, self._term_cfgs):
+        for i, term_cfg in enumerate(self._term_cfgs):
             value = term_cfg.func(self._env, **term_cfg.params)
             # store timeout signal separately
             if term_cfg.time_out:
@@ -169,7 +169,10 @@ class TerminationManager(ManagerBase):
             else:
                 self._terminated_buf |= value
             # add to episode dones
-            self._term_dones[name][:] = value
+            rows = value.nonzero(as_tuple=True)[0]  # indexing is cheaper than boolean advance indexing
+            if rows.numel() > 0:
+                self._term_dones[rows] = False
+                self._term_dones[rows, i] = True
         # return combined termination signal
         return self._truncated_buf | self._terminated_buf
 
@@ -182,7 +185,7 @@ class TerminationManager(ManagerBase):
         Returns:
             The corresponding termination term value. Shape is (num_envs,).
         """
-        return self._term_dones[name]
+        return self._term_dones[:, self._term_name_to_term_idx[name]]
 
     def get_active_iterable_terms(self, env_idx: int) -> Sequence[tuple[str, Sequence[float]]]:
         """Returns the active terms as iterable sequence of tuples.
@@ -196,8 +199,8 @@ class TerminationManager(ManagerBase):
             The active terms.
         """
         terms = []
-        for key in self._term_dones.keys():
-            terms.append((key, [self._term_dones[key][env_idx].float().cpu().item()]))
+        for i, key in enumerate(self._term_names):
+            terms.append((key, [self._term_dones[env_idx, i].float().cpu().item()]))
         return terms
 
     """
@@ -217,7 +220,7 @@ class TerminationManager(ManagerBase):
         if term_name not in self._term_names:
             raise ValueError(f"Termination term '{term_name}' not found.")
         # set the configuration
-        self._term_cfgs[self._term_names.index(term_name)] = cfg
+        self._term_cfgs[self._term_name_to_term_idx[term_name]] = cfg
 
     def get_term_cfg(self, term_name: str) -> TerminationTermCfg:
         """Gets the configuration for the specified term.
@@ -234,7 +237,7 @@ class TerminationManager(ManagerBase):
         if term_name not in self._term_names:
             raise ValueError(f"Termination term '{term_name}' not found.")
         # return the configuration
-        return self._term_cfgs[self._term_names.index(term_name)]
+        return self._term_cfgs[self._term_name_to_term_idx[term_name]]
 
     """
     Helper functions.