Comments (2)
In fact the actual observation that the agent receives the observation is composed of several components (in the form of dict).
observation = {
"observation": ...,
"desired_goal": ...,
"achieved_goal": ...,
}
- For the key
"observation"
, there are two components:- the robot-related component (the position of the gripper, its speed etc.)
- the task-related component (the position of the objects, the speed etc.)
- For the key
"desired_goal"
, this is the goal of the task. For example, the target position of the object for the PickAndPlace task. - For the key
"achieved_goal"
, it is the goal achieved at time t. For example for PickAndPlace, it is the current position of the object.
Several remarks:
- The codes you attached are for building the task-related observation. This component is then concatenated with the component linked to the robot, then put in a dict with the desired goal and the achieved goal. (see above)
"achieved_goal"
is usually redundant with the components of the observation. For example, for PickAndPlace, the position of the object is in the observation vector and in the"achieved_goal"
vector.- For Reach, there is no component linked to the task because there is no object (in this case, the terminology is a bit misleading because there is still a task to perform, but this is a special case so we left it like that)
from panda-gym.
All this is explained in the publication linked to panda-gym, I strongly advise you to read it (especially the diagram)
from panda-gym.
Related Issues (20)
- When is it panda-gym going to be compatible with python 3.11? HOT 1
- how to realize the sb3 train demo code with panda-gym? HOT 2
- Typo in the `core.py` script HOT 1
- Render screen is out of sync HOT 6
- `NAN` in the training HOT 1
- How to get `predict` data from a saved model? HOT 2
- TypeError: catching classes that do not inherit from BaseException is not allowed HOT 6
- Shape of `achieved_goal` and `desired_goal` HOT 6
- Discussion about the future work HOT 9
- Decreasing Size of Action Space HOT 2
- Compatibility of gym-0.24 branch? HOT 2
- panda-gym v2 error; "TypeError: catching classes that do not inherit from BaseException is not allowed". HOT 2
- Clarification about 'observation', 'achieved_goal' and 'desired_goal' HOT 5
- Flip and Stack question HOT 3
- change the observation and return HOT 1
- reproduce the results HOT 1
- reproduce the results HOT 2
- Set to move in a two-dimensional plane HOT 6
- Clarification about the observation or system state returned by the task class HOT 1
- Can the SAC algorithm without using HER converge in some of the environments in this project?
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from panda-gym.