From e738c0d40121565e612577bbb21a60f5abc7463c Mon Sep 17 00:00:00 2001 From: ossamaAhmed Date: Tue, 6 Oct 2020 16:27:30 +0200 Subject: [PATCH] Update README.md --- README.md | 2 +- docs/guide/task_setups.rst | 1 + docs/modules/actors/actors.rst | 51 +++++++++++++++++++ docs/modules/sim2real/sim2real.rst | 7 +++ .../task_generators/task_generators.rst | 2 +- 5 files changed, 61 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index dd089b00..baed517a 100644 --- a/README.md +++ b/README.md @@ -282,7 +282,7 @@ env.close() ``` ## Curriculum Through Interventions -To provide a convenient way of specifying learning curricula, we introduce intervention actors. At each time step, such an actor takes all the exposed variables of the environ-ment as inputs and may intervene on them. To encourage modularity, one may combine multipleactors in a learning curriculum. This actor is defined by the episode number to start intervening,the episode number to stop intervening, the timestep within the episode it should intervene and theepisode periodicity of interventions. +To provide a convenient way of specifying learning curricula, we introduce intervention actors. At each time step, such an actor takes all the exposed variables of the environment as inputs and may intervene on them. To encourage modularity, one may combine multiple actors in a learning curriculum. This actor is defined by the episode number to start intervening,the episode number to stop intervening, the time step within the episode it should intervene and the episode periodicity of interventions.

diff --git a/docs/guide/task_setups.rst b/docs/guide/task_setups.rst index e5ada8ad..b1102294 100644 --- a/docs/guide/task_setups.rst +++ b/docs/guide/task_setups.rst @@ -149,6 +149,7 @@ structured: In this mode the observation space is a lower-dimensional feature ve time left for task (1), joint_positions (9), joint_velocities (9), end_effector_positions (9). Then for each tool object in the environment additional 17-dimensions are used representing: type (1), size (3), cartesian_position (3), quaternion_orientation (4), linear_velocity (3), angular_velocity (3). For each goal subshape in the environment additional +11-dimesnions are used representing: type (1), size (3), cartesian_position (3) and orientation (4). Lastly, if there are any fixed blocks in the environment additional 11-dimesnions are used representing: type (1), size (3), cartesian_position (3) and orientation (4). .. image:: ../media/structured_observation_space.png diff --git a/docs/modules/actors/actors.rst b/docs/modules/actors/actors.rst index 0d90a0b7..40e16c1b 100644 --- a/docs/modules/actors/actors.rst +++ b/docs/modules/actors/actors.rst @@ -16,3 +16,54 @@ BaseActorPolicy :members: .. automethod:: __init__ + +PushingActorPolicy +------------------- +.. autoclass:: PushingActorPolicy + :members: + + .. automethod:: __init__ + + +PickingActorPolicy +------------------ +.. autoclass:: PickingActorPolicy + :members: + + .. automethod:: __init__ + + +PickAndPlaceActorPolicy +----------------------- +.. autoclass:: PickAndPlaceActorPolicy + :members: + + .. automethod:: __init__ + +Stacking2ActorPolicy +-------------------- +.. autoclass:: Stacking2ActorPolicy + :members: + + .. automethod:: __init__ + +ReacherActorPolicy +-------------------- +.. autoclass:: ReacherActorPolicy + :members: + + .. automethod:: __init__ + +GraspingPolicy +--------------- +.. autoclass:: GraspingPolicy + :members: + + .. automethod:: __init__ + +RandomActorPolicy +----------------- +.. autoclass:: RandomActorPolicy + :members: + + .. automethod:: __init__ \ No newline at end of file diff --git a/docs/modules/sim2real/sim2real.rst b/docs/modules/sim2real/sim2real.rst index 2217ca26..6a78b9f1 100644 --- a/docs/modules/sim2real/sim2real.rst +++ b/docs/modules/sim2real/sim2real.rst @@ -9,3 +9,10 @@ RealisticRobotWrapper :members: .. automethod:: __init__ + +TransferRealWrapper +------------------- +.. autoclass:: TransferReal + :members: + + .. automethod:: __init__ diff --git a/docs/modules/task_generators/task_generators.rst b/docs/modules/task_generators/task_generators.rst index 87f3da9c..2d2eeb4d 100644 --- a/docs/modules/task_generators/task_generators.rst +++ b/docs/modules/task_generators/task_generators.rst @@ -4,7 +4,7 @@ Task Generators Task ---- .. automodule:: causal_world.task_generators.task - :members: task_generator + :members: generate_task .. automodule:: causal_world.task_generators