RLAgent

Inherits: Spatial < Node < Object

Base class for RL agents.

Description

This class provides interface to set an agent action, to obtain the agent observation, to configure and to reset the agent. User must override the class to implement own agent.

In GodotGymAPI RLAgent is considered as top-level controller over object that interacts the RLEnvWorld and sensors those percieve the RLEnvWorld. RLAgent node is considered as non-moving node. We recomend to use RemoteTransform nodes to move sensors in accordance to the object that RLAgent manipulate (optional).

Typical example of an Agent scene structure is:

Agent (inherited from RLAgent)
|___Robot (e.g. inherited from VehicleBody)
|   |___RemoteTransform (poitning to Sensors)
|
|___Sensors (e.g. Spatial)
    |___RGBCamera
    |___RayCast

or

Agent (inherited from RLAgent)
|___Robot (e.g. inherited from VehicleBody)
    |___Sensors (e.g. Spatial)
        |___RGBCamera
        |___RayCast

Method Descriptions

(void) _ready()

Called when the node is “ready”, i.e. when both the node and its children have entered the scene tree. If user overrides the method in own subclass the method is called anyway.

(void) set_action(action)

The method must be overriden to implement logic how action is used by the agent.

Args:

action: Any structure containing information about an action to be performed

(void) reset(arguments=null)

Method to implement logic on agent reset.

Args:

arguments: Any structure containing information for Agent reset.

(void) configure(agent_config: Dictionary)

Optional method to implement logic on agent configuration.

Args:

agent_config: Agent configuration.

(void) get_data(observation_request, storage)

Method to be overriden to implement logic on filling protobuf message AgentData field to send data from Godot.

Args:

observation_request: Any structure containing information about requested observations. storage: AgentData field from protobuf message to send data from Godot.