unilab.envs.mdp.curriculums.termination_curriculum

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

Bases: object

Update a termination term’s params and/or time_out based on training steps.

Each stage specifies a step threshold and optionally a params dict and/or time_out flag. When env.common_step_counter reaches a stage’s step, the values are applied. Later stages take precedence.

Example owner YAML:

curriculum:
  tilt_threshold:
    func: unilab.envs.mdp.termination_curriculum
    params:
      termination_name: tilt
      stages:
        - {step: 12000, params: {max_tilt_deg: 80.0}}
        - {step: 24000, params: {max_tilt_deg: 65.0}}
Parameters:

  • cfg (CurriculumTermCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

__init__(cfg, env)[source]
Parameters:

  • cfg (CurriculumTermCfg)

  • env (ManagerBasedRlEnv)

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

Call self as a function.

Parameters:
Return type:

dict[str, Any]