(rollout_traj, perturb=False)
| 89 | |
| 90 | |
| 91 | def execute_actions(rollout_traj, perturb=False): |
| 92 | evaluator = evaluator_global_perturb if perturb else evaluator_global |
| 93 | metrics, (qp_list, latent_list) = evaluator.run_evaluation( |
| 94 | params_global, |
| 95 | ref_traj=rollout_traj, |
| 96 | mask=np.ones(rollout_traj.shape[:-1]), |
| 97 | training_metrics={}) |
| 98 | |
| 99 | return serialize_qp(qp_list).transpose(1,0,2)[:, :rollout_traj.shape[1]] |
| 100 | |
| 101 | if __name__ == '__main__': |
| 102 | rollout_traj = np.zeros([4, 120, 273]) |