action_augmented_observation

Classes

class prt_rl.env.adapters.action_augmented_observation.ActionAugmentedObservationAdapter(env: EnvironmentInterface)

Adapter that augments the observation with the previous action taken. The observation is concatenated with the previous action along the last dimension.

Parameters:

env (EnvironmentInterface) – The environment to adapt

close() → None

Closes the environment and cleans up any resources.

get_num_envs() → int

Returns the number of environments in the interface.

Returns:

Number of environments

Return type:

int

get_parameters()

Returns the EnvParams object which contains information about the sizes of observations and actions needed for setting up RL agents.

Returns:

environment parameters object

Return type:

EnvParams

reset(*args, **kwargs)

Resets the environment to the initial state and returns the initial observation.

Parameters:

seed (int | None) – Sets the random seed.

Returns:

Tuple of tensors containing the initial observation and info dictionary

Return type:

Tuple

step(action)

Steps the simulation using the action tensor and returns the new trajectory.

Parameters:

action (torch.Tensor) – Tensor with “action” key that is a tensor with shape (# env, # actions)

Returns:

Tuple of tensors containing the next state, reward, done, and info dictionary

Return type:

Tuple