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use lerp for polyak updates#2136

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ClashLuke wants to merge 3 commits intoDLR-RM:masterfrom
ClashLuke:patch-1
Open

use lerp for polyak updates#2136
ClashLuke wants to merge 3 commits intoDLR-RM:masterfrom
ClashLuke:patch-1

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@ClashLuke
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slightly increases numerical precision and speed

ideally, we'd put this into a torch.compile-d block, but it's not clear whether SB3 wants to support/use compile.

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