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Add SHAIL-PPO

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This commit is contained in:
ebuehrle
2022-02-18 06:54:52 +01:00
parent 1624e1a349
commit 84351e77f2
4 changed files with 8 additions and 1 deletions
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4
src/eval_main.py
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@@ -72,6 +72,10 @@ def load_policy(method:str,
policy = ReparamPolicy(policy)
policy.load_state_dict(torch.load(policy_file))
policy.eval()
elif method == 'sgail-ppo':
policy = SetMaskedDiscretePolicy(env.action_space.n)
policy.load_state_dict(torch.load(policy_file))
policy.eval()
else:
raise NotImplementedError
return policy

2
src/safe_options/options.py
View File

@@ -257,4 +257,4 @@ def NormalizedSafeOptionsEvalEnv(max_episode_steps=float('inf'), safe_actions_co
n_rays=5,
**kwargs,
), lambda obs: (obs - obs_min) / (obs_max - obs_min + 1e-10))
), options=[(0, 5), (1, 5), (2, 5), (4, 5), (6, 5), (8, 5)], safe_actions_collision_method=safe_actions_collision_method, abort_unsafe_collision_method=abort_unsafe_collision_method), max_episode_steps=max_episode_steps)
), options=[(0, 5), (1, 5), (2, 5), (4, 5), (6, 5), (8, 5), (10, 5)], safe_actions_collision_method=safe_actions_collision_method, abort_unsafe_collision_method=abort_unsafe_collision_method), max_episode_steps=max_episode_steps)