unilab.algos.torch.hora.observations.build_hora_obs_tensordict

unilab.algos.torch.hora.observations.build_hora_obs_tensordict(obs, *, info, device, batch_size, policy_obs)[source]

Build the HORA PPO/APPO observation TensorDict for teacher-policy runtime.

Parameters:

  • obs (dict[str, ndarray]) – Environment observation dict following the UniLab env contract.

  • info (dict[str, Any] | None) – Optional env info dict containing HORA privileged payloads.

  • device (str) – Torch device string used for the returned tensors.

  • batch_size (int) – Number of vectorized environments represented by this batch.

  • policy_obs (ndarray) – Policy observation array already resolved by the caller.

Return type:

TensorDict

Returns:

TensorDict with generic keys plus HORA-specific priv_info and optional proprio_hist when the environment provided them.