unilab.envs.mdp.curriculums.event_curriculum

class unilab.envs.mdp.curriculums.event_curriculum[source]

Bases: object

Update an event term’s params and/or config fields based on training steps.

Event terms are invoked with their live cfg.params on every apply, so staged params updates (e.g. a widened com_range) take effect on the next event application. Stage semantics match reward_curriculum.

Example owner YAML:

curriculum:
  com_range:
    func: unilab.envs.mdp.event_curriculum
    params:
      event_name: base_com
      stages:
        - {step: 0, params: {com_range: {x: [-0.003, 0.003]}}}
        - {step: 24000, params: {com_range: {x: [-0.01, 0.01]}}}
Parameters:

  • cfg (CurriculumTermCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

__init__(cfg, env)[source]
Parameters:

  • cfg (CurriculumTermCfg)

  • env (ManagerBasedRlEnv)

__call__(env, env_ids, event_name, stages)[source]

Call self as a function.

Parameters:
Return type:

dict[str, Any]