diff --git a/scratch/etienne/intersimple/gail/options2.py b/scratch/etienne/intersimple/gail/options2.py index 6d3728e..69514a5 100644 --- a/scratch/etienne/intersimple/gail/options2.py +++ b/scratch/etienne/intersimple/gail/options2.py @@ -3,7 +3,6 @@ import torch from src.util.collisions import feasible import numpy as np from collections import deque -import itertools def imitation_discriminator(discriminator): return lambda obs, action, next_obs, done: discriminator.discrim_net.predict_reward_train( @@ -82,7 +81,8 @@ class OptionsEnv(gym.Wrapper): def sample_ll(self, n): assert n <= self.ll_buffer_capacity, f'Sample size of {n} exceeds buffer capacity of {self.ll_buffer_capacity}' assert n <= len(self.ll_buffer), f'Sample size of {n} exceeds buffer size of {len(self.ll_buffer)}' - return list(itertools.islice(self.ll_buffer, n)) + ind = np.random.randint(len(self.ll_buffer), size=n) + return list(self.ll_buffer[i] for i in ind) class RenderOptions(OptionsEnv):