Allow variable horizon trajectories

scratch/etienne/intersimple/gail_flat.py

@@ -47,6 +47,7 @@ gail_trainer = adversarial.GAIL(
     n_disc_updates_per_round=32,
     discrim_kwargs={'discrim_net': MlpDiscriminator()},
     gen_algo=sb3.PPO("MlpPolicy", venv, verbose=1, n_steps=4530),
+    allow_variable_horizon=True,
 )
 gail_trainer.train(total_timesteps=400000)
 gail_trainer.gen_algo.save(model_name)

scratch/etienne/intersimple/gail_image.py

@@ -47,6 +47,7 @@ gail_trainer = adversarial.GAIL(
     #n_disc_updates_per_round=2048,
     discrim_kwargs={'discrim_net': CnnDiscriminator(venv)},
     gen_algo=sb3.PPO("CnnPolicy", venv, verbose=1, n_steps=1024),
+    allow_variable_horizon=True,
 )
 gail_trainer.train(total_timesteps=100000)
 gail_trainer.gen_algo.save(model_name)

scratch/etienne/intersimple/gail_options.py

@@ -47,8 +47,7 @@ def target_velocity_plan(current_v: float, target_v: float, t: int)
     # for now, constant acceleration
     a = (target_v - current_v)  / t
     return a*np.ones((t,))
-Hello
-
+    
 def generate_plan(env, i):
     """Generate input profile for high-level action `i`."""
     assert i < len(ALL_OPTIONS), "Invalid option index {i}"