rl.py:
- Action space is now a flat Box (SAC/PPO require this, not Dict)
- _build_flat_action_space + _unflatten_action helpers shared by both envs
- Params with undefined bounds excluded from action space (SAC needs finite bounds)
- Fix _build_param_space: use `is not None` check instead of falsy `or` (0 is valid min_val)
- NuconGoalEnv obs params default to simulator.model.input_params when sim provided;
obs_params kwarg overrides for real-game deployment with same param set
- SIM_UNCERTAINTY kept out of policy obs vector (not available at deployment);
available in reward_obs passed to objectives/terminators/reward_fn
- _read_obs returns (gym_obs, reward_obs) cleanly instead of smuggling via dict
- NuconGoalEnv additional_objectives wired into step()
sim.py:
- Uninitialized params return type-default (0/False/first-enum) instead of "None"
- Enum params serialised as integer value, not repr string
README.md:
- Fix HerReplayBuffer import path (sb3 2.x: her.her_replay_buffer)
- Remove non-existent simulator.run() call
- Fix broken anchor links, remove "work in progress" from intro
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
dodoxandClaude Sonnet 4.6
3dfe1aa673