PolicyConfig

class trifinger_rl_datasets.PolicyConfig(flatten_obs=True, image_obs=False)

Policy configuration specifying what kind of observations the policy expects.

Parameters:

• flatten_obs (bool) – If True, the policy expects observations as flattened arrays. Otherwise, it expects them as dictionaries.

• image_obs (bool) – If True, the policy expects the observations to contain camera images. Otherwise, images are not included. If images_obs is True and flatten_obs is True, the observation is a tuple containing the flattened observation excluding the images and the images in a numpy array. If flatten_obs is False, the images are included in the observation dictionary.