Keyword is_bc_policy

[zichunxx]

Hi!

I was trying to go through the training process with SawyerPushObstacle-v0. I met the keyword error when the following line is executed

mopa-pd/rl/behavioral_cloning_visual.py

Line 367 in ac55f56

obs, reward, done, info = self._env_eval.step(action.detach().cpu().numpy(), is_bc_policy=True)

where the step function in BaseEnv has no is_bc_policy keyword.

mopa-pd/env/base.py

Line 264 in ac55f56

def step(self, action, is_planner=False, is_mopa_rl=True):

Or, the _step method should be called here?

mopa-pd/env/sawyer/sawyer_push_obstacle.py

Line 192 in ac55f56

def _step(self, action, is_planner=False, is_mopa_rl=True, is_bc_policy=False):

Looking forward to your reply, thanks.

[arthur801031]

Hello!

I don't remember having to change the step function to _step, but after looking at the code, I think replacing that step function call with _step makes sense. Could you try it and see if everything works as intended?

Thanks!

[zichunxx]

Thanks for your response and the patience to check the code!

I have changed the step function to _step and it works. Because of this keyword, I think _step should be called here.

Besides, it seems that there is no set_seed method in gym 0.15.4. I think it should be changed to the seed method.

mopa-pd/rl/behavioral_cloning_visual.py

Line 344 in ac55f56

self._env_eval.set_seed(eval_seed)

[arthur801031]

Yes, please change it to the seed function.