fixed reward leaking bug

mentioned in issue #8

PPO_continuous.py

@@ -12,12 +12,14 @@ def __init__(self):
         self.states = []
         self.logprobs = []
         self.rewards = []
+        self.is_terminals = []
 
     def clear_memory(self):
         del self.actions[:]
         del self.states[:]
         del self.logprobs[:]
         del self.rewards[:]
+        del self.is_terminals[:]
 
 class ActorCritic(nn.Module):
     def __init__(self, state_dim, action_dim, action_std):
@@ -94,9 +96,11 @@ def update(self, memory):
         # Monte Carlo estimate of rewards:
         rewards = []
         discounted_reward = 0
-        for reward in reversed(memory.rewards):
+        for reward, is_terminal in zip(reversed(memory.rewards), reversed(memory.is_terminals)):
             discounted_reward = reward + (self.gamma * discounted_reward)
             rewards.insert(0, discounted_reward)
+            if is_terminal:
+                discounted_reward = 0
 
         # Normalizing the rewards:
         rewards = torch.tensor(rewards).to(device)
@@ -178,8 +182,10 @@ def main():
             # Running policy_old:
             action = ppo.select_action(state, memory)
             state, reward, done, _ = env.step(action)
-            # Saving reward:
+
+            # Saving reward and is_terminals:
             memory.rewards.append(reward)
+            memory.is_terminals.append(done)
 
             # update if its time
             if time_step % update_timestep == 0: