Method evaluate

humanoidverse/agents/modules/agent_modules.py:163–166

(self, obs, obs_key="actor_obs", **kwargs)

        return actions_mean

    def evaluate(self, obs, obs_key="actor_obs", **kwargs):
        motion_embedding = self.actor.motion_encoding(obs["future_motion_targets"])
        critic_obs = torch.cat([obs[obs_key], obs["priv_obs"], motion_embedding], dim=-1)
        return self.critic(critic_obs)