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fix bugs to fetch all motions features after encoder #7

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fix bugs to fetch all motions features after encoder #7

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25 changes: 19 additions & 6 deletions calm/learning/anyskill_agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -276,6 +276,18 @@ def init_tensors(self):

return

def _get_motion_encoding(self):
all_encoded_demo_amp_obs = []
for motion_id in range(self.vec_env.env.task._motion_lib._motion_weights.shape[0]):
motion_amp_obs = self.vec_env.env.task.fetch_amp_obs_demo_per_id(32, motion_id)[-1].view(32, self.vec_env.env.task._num_amp_obs_enc_steps, self.vec_env.env.task._num_amp_obs_per_step)

preproc_amp_obs = self._llc_agent._preproc_amp_obs(motion_amp_obs)
encoded_demo_amp_obs = self._llc_agent.model.a2c_network.eval_enc(preproc_amp_obs)
all_encoded_demo_amp_obs.append(encoded_demo_amp_obs)
all_encoded_demo_amp_obs = torch.stack(all_encoded_demo_amp_obs, dim=0)

return all_encoded_demo_amp_obs

def _build_llc(self, config_params, checkpoint_file):
network_params = config_params['network']

Expand All @@ -293,12 +305,13 @@ def _build_llc(self, config_params, checkpoint_file):
print("Loaded LLC checkpoint from {:s}".format(checkpoint_file))
self._llc_agent.set_eval()

enc_amp_obs = self._llc_agent._fetch_amp_obs_demo(128)
if len(enc_amp_obs) == 2:
enc_amp_obs = enc_amp_obs[0]

preproc_enc_amp_obs = self._llc_agent._preproc_amp_obs(enc_amp_obs)
self.encoded_motion = self._llc_agent.model.a2c_network.eval_enc(amp_obs=preproc_enc_amp_obs).unsqueeze(0)
# enc_amp_obs = self._llc_agent._fetch_amp_obs_demo(128)
# if len(enc_amp_obs) == 2:
# enc_amp_obs = enc_amp_obs[0]
#
# preproc_enc_amp_obs = self._llc_agent._preproc_amp_obs(enc_amp_obs)
# self.encoded_motion = self._llc_agent.model.a2c_network.eval_enc(amp_obs=preproc_enc_amp_obs).unsqueeze(0)
self.encoded_motion = self._get_motion_encoding()

return

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