Dominik Roth
3dfe1aa673
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> |
||
|---|---|---|
| .. | ||
| drake_assets | ||
| __init__.py | ||
| core.py | ||
| drake.py | ||
| model.py | ||
| rl.py | ||
| sim.py | ||