BC算法实现

2026-02-02 01:18:18 +08:00
parent 265b0eade1
commit 21c046aef0
25 changed files with 632 additions and 322 deletions
--- a/dataset/expert_dataset.py
+++ b/dataset/expert_dataset.py
@@ -244,6 +244,7 @@ class ExpertTrajectoryDataset(Dataset):
                print(f"  观测维度: {obs_dim} (应为107)")
        
        if save_path:
+            os.makedirs(os.path.dirname(save_path), exist_ok=True)
            with open(save_path, "wb") as f:
                pickle.dump({
                    "trajectories": all_trajectories,
@@ -282,7 +283,7 @@ if __name__ == "__main__":
        trajectories, observations = ExpertTrajectoryDataset.collect_with_full_obs(
            env_config,
            num_scenarios=10,
-            save_path="./expert_trajectories_full.pkl"
+            save_path="data/trajectories/expert_trajectories_full.pkl"
        )
        
        if len(trajectories) > 0: