[hab3_merge] Define different policies for different agents #1530
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I'm blocked on some of the CI Tests. I don't know how to address this one for instance: @rpartsey Could you check if I am missing/misunderstanding something in Hydra? |
ASzot
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| obs_trans_conf = config.habitat_baselines.rl.policy.obs_transforms | ||
| if hasattr(config.habitat_baselines.rl.policy, "obs_transforms"): | ||
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| # We assume for now that the observation space is shared among agents |
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We don't assume this in general right? Only when using observation transformations?
ASzot
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Aug 24, 2023
| ).articulated_agent.get_joint_transform()[0] | ||
| return np.array(joints_pos, dtype=np.float32) | ||
| curr_agent = self._sim.get_agent_data(self.agent_id).articulated_agent | ||
| if hasattr(curr_agent, "get_joint_transform"): |
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Can you check for the type with is instance instead of hasattr? This will be more clear what interface you expect here.
ASzot
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…research#1530) * define policies per agent * fix * udpate configs to support multiagent * change configs to support agent name in polic * solving more pytest * correcting test * pytest solve * correct pytets * small comment update
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…research#1530) * define policies per agent * fix * udpate configs to support multiagent * change configs to support agent name in polic * solving more pytest * correcting test * pytest solve * correct pytets * small comment update
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Motivation and Context
This is needed so that we can define different policy types for each agent. It may be useful to be able to train a multi-agent task where one agent is run by a planner and the other one is run by a neural net, or one has a low level policy and the other has a high level policy.
Cherry-picked from this PR: 26a9696
How Has This Been Tested
Passes Test + End to End Testing.
Types of changes
Checklist