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Make envs independent in BC experiment

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This commit is contained in:
ebuehrle
2022-02-27 22:53:12 +01:00
parent 7f1557144c
commit 25e4d5679f
1 changed files with 3 additions and 3 deletions
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6
bc-experiment.py
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@@ -44,7 +44,7 @@ def training_function(config):
np.random.seed(config['seed'])
torch.manual_seed(config['seed'])
env = Setobs(TransformObservation(CollisionPenaltyWrapper(
envs = [Setobs(TransformObservation(CollisionPenaltyWrapper(
IntersimpleLidarFlatRandom(
n_rays=5,
reward=functools.partial(
@@ -55,8 +55,8 @@ def training_function(config):
stop_on_collision=config['trainenv']['stop_on_collision'],
), collision_distance=6, collision_penalty=100),
lambda obs: (obs - obs_min) / (obs_max - obs_min + 1e-10)
))
env_fn = lambda i: env
)) for _ in range(60)]
env_fn = lambda i: envs[i]
# load expert data