Class UAbstractImitationConnector

Class UAbstractImitationConnector

• Defined in File AbstractImitationConnector.h

Inheritance Relationships

Base Type

• public UObject

Derived Type

• public URPCImitationConnector (Class URPCImitationConnector)

class UAbstractImitationConnector : public UObject

Source: Source/Schola/Imitation/Public/ImitationConnectors/AbstractImitationConnector.h

Dependencies: FImitationTrainingState, FInitialState, FTrainingDefinition, IBaseImitationScholaEnvironment, IImitationScholaEnvironment

An abstract class for connectors between Unreal Engine and imitation learning environments.

This class provides the basic structure and functionality for connecting Unreal Engine environments with external expert policies for imitation learning purposes.

Subclassed by URPCImitationConnector

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Public Functions

Symbol	Details
UAbstractImitationConnector	Constructor for the abstract imitation connector.
~UAbstractImitationConnector	Destructor for the abstract imitation connector.
Init	Initialize this imitation connector with training definitions.
Init	Initialize this imitation connector by collecting environments and building training definitions.
SetStatus	Set the status of the connector and broadcast appropriate delegates.
SubmitStateWithInitialState	Submit imitation state to external source with initial state information.
SubmitState	Submit imitation state to external source without initial state information.
CheckForStart	Check if the connector is ready to start processing.
IsRunning	Check if the connector is currently running.
IsNotStarted	Check if the connector has not started or is closed.
CollectEnvironments	Collect all imitation environment actors from the current world.
PrepareEnvironments	Prepare environments for imitation by wrapping them in type-erased interfaces.
Step	Execute one step of imitation learning across all environments.

UAbstractImitationConnector

UAbstractImitationConnector()

Constructor for the abstract imitation connector.

Initializes the connector with default values.

Source: Source/Schola/Imitation/Public/ImitationConnectors/AbstractImitationConnector.h

Implementation: Source/Schola/Imitation/Private/ImitationConnectors/AbstractImitationConnector.cpp

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~UAbstractImitationConnector

~UAbstractImitationConnector()

Destructor for the abstract imitation connector.

Cleans up environment pointers.

Source: Source/Schola/Imitation/Public/ImitationConnectors/AbstractImitationConnector.h

Implementation: Source/Schola/Imitation/Private/ImitationConnectors/AbstractImitationConnector.cpp

Init

virtual void Init(const FTrainingDefinition &AgentDefinitions)

Initialize this imitation connector with training definitions.

Note

This function should be overridden by derived classes to set up services.

Parameters

AgentDefinitions – [in] The definitions of the agents that will be used for imitation

#	Direction	Name	Type	Description
1	—	AgentDefinitions	const FTrainingDefinition &	The definitions of the agents that will be used for imitation

Attributes: virtual

Source: Source/Schola/Imitation/Public/ImitationConnectors/AbstractImitationConnector.h

Implementation: Source/Schola/Imitation/Private/ImitationConnectors/AbstractImitationConnector.cpp

Init

void Init(const TArray<TScriptInterface<IBaseImitationScholaEnvironment>>
              &InEnvironments)

Initialize this imitation connector by collecting environments and building training definitions.

Note

This function collects environment definitions and calls the other Init overload.

Parameters

InEnvironments – [in] Array of environment interfaces to use for imitation

#	Direction	Name	Type	Description
1	—	AgentDefinitions	const FTrainingDefinition &	The definitions of the agents that will be used for imitation

Attributes: virtual

Source: Source/Schola/Imitation/Public/ImitationConnectors/AbstractImitationConnector.h

Implementation: Source/Schola/Imitation/Private/ImitationConnectors/AbstractImitationConnector.cpp

SetStatus

void SetStatus(EImitationConnectorStatus NewStatus)

Set the status of the connector and broadcast appropriate delegates.

Parameters

NewStatus – [in] The new status to set

#	Direction	Name	Type	Description
1	—	NewStatus	EImitationConnectorStatus	The new status to set

Source: Source/Schola/Imitation/Public/ImitationConnectors/AbstractImitationConnector.h

Implementation: Source/Schola/Imitation/Private/ImitationConnectors/AbstractImitationConnector.cpp

SubmitStateWithInitialState

inline virtual void
SubmitStateWithInitialState(const FImitationTrainingState &InState,
                            const FInitialState &InInitialState)

Submit imitation state to external source with initial state information.

Note

Must be implemented by derived classes.

Parameters

• InState – [in] The imitation training state containing observations, actions, and rewards

• InInitialState – [in] The initial state after any resets

#	Direction	Name	Type	Description
1	—	InState	const FImitationTrainingState &	The imitation training state containing observations, actions, and rewards
2	—	InInitialState	const FInitialState &	The initial state after any resets

Attributes: inline, virtual

Source: Source/Schola/Imitation/Public/ImitationConnectors/AbstractImitationConnector.h

SubmitState

inline virtual void SubmitState(const FImitationTrainingState &InState)

Submit imitation state to external source without initial state information.

Note

Must be implemented by derived classes.

Parameters

InState – [in] The imitation training state containing observations, actions, and rewards

#	Direction	Name	Type	Description
1	—	InState	const FImitationTrainingState &	The imitation training state containing observations, actions, and rewards

Attributes: inline, virtual

Source: Source/Schola/Imitation/Public/ImitationConnectors/AbstractImitationConnector.h

CheckForStart

inline virtual bool CheckForStart()

Check if the connector is ready to start processing.

Note

Must be implemented by derived classes.

Returns:

True if the connector is ready to start

Attributes: inline, virtual

Source: Source/Schola/Imitation/Public/ImitationConnectors/AbstractImitationConnector.h

IsRunning

inline bool IsRunning()

Check if the connector is currently running.

Returns:

True if the connector status is Running

Attributes: inline

Source: Source/Schola/Imitation/Public/ImitationConnectors/AbstractImitationConnector.h

IsNotStarted

inline bool IsNotStarted()

Check if the connector has not started or is closed.

Returns:

True if the connector status is NotStarted or Closed

Attributes: inline

Source: Source/Schola/Imitation/Public/ImitationConnectors/AbstractImitationConnector.h

CollectEnvironments

void CollectEnvironments(
    TArray<TScriptInterface<IBaseImitationScholaEnvironment>>
        &OutCollectedEnvironments)

Collect all imitation environment actors from the current world.

Parameters

OutCollectedEnvironments – [out] Array populated with found environment interfaces

#	Direction	Name	Type	Description
1	—	OutCollectedEnvironments	TArray< TScriptInterface< IBaseImitationScholaEnvironment > > &	Array populated with found environment interfaces

Source: Source/Schola/Imitation/Public/ImitationConnectors/AbstractImitationConnector.h

Implementation: Source/Schola/Imitation/Private/ImitationConnectors/AbstractImitationConnector.cpp

PrepareEnvironments

void PrepareEnvironments(
    const TArray<TScriptInterface<IBaseImitationScholaEnvironment>>
        &InEnvironments)

Prepare environments for imitation by wrapping them in type-erased interfaces.

Parameters

InEnvironments – [in] Array of environment interfaces to prepare

#	Direction	Name	Type	Description
1	—	InEnvironments	const TArray< TScriptInterface< IBaseImitationScholaEnvironment > > &	Array of environment interfaces to prepare

Source: Source/Schola/Imitation/Public/ImitationConnectors/AbstractImitationConnector.h

Implementation: Source/Schola/Imitation/Private/ImitationConnectors/AbstractImitationConnector.cpp

Step

void Step()

Execute one step of imitation learning across all environments.

Collects expert demonstrations from environments and submits them to the external source.

Source: Source/Schola/Imitation/Public/ImitationConnectors/AbstractImitationConnector.h

Implementation: Source/Schola/Imitation/Private/ImitationConnectors/AbstractImitationConnector.cpp

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Public Members

Symbol	Details
OnConnectorStarted	Delegate broadcast when the connector starts.
OnConnectorClosed	Delegate broadcast when the connector closes.
OnConnectorError	Delegate broadcast when the connector encounters an error.
Environments	Array of type-erased environment pointers currently used for imitation.
TrainingDefinition	Training definition containing environment and agent definitions.
Status	Current status of the connector.
bFirstStep	Flag indicating whether this is the first step (requires reset).

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OnConnectorStarted

FImitationConnectorStartedSignature OnConnectorStarted

Delegate broadcast when the connector starts.

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OnConnectorClosed

FImitationConnectorClosedSignature OnConnectorClosed

Delegate broadcast when the connector closes.

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OnConnectorError

FImitationConnectorErrorSignature OnConnectorError

Delegate broadcast when the connector encounters an error.

Var

TArray<IImitationScholaEnvironment *> Environments =
    TArray<IImitationScholaEnvironment *>()

Array of type-erased environment pointers currently used for imitation.

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TrainingDefinition

FTrainingDefinition TrainingDefinition = FTrainingDefinition()

Training definition containing environment and agent definitions.

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Status

EImitationConnectorStatus Status = EImitationConnectorStatus::Running

Current status of the connector.

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bFirstStep

bool bFirstStep = true

Flag indicating whether this is the first step (requires reset).

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Protected Functions

Symbol	Details
HandleImitationStep	Handle a single step of imitation learning.

HandleImitationStep

void HandleImitationStep(FImitationTrainingState &OutTrainingState,
                         FInitialState &OutInitialState)

Handle a single step of imitation learning.

This is a protected helper method for processing imitation steps in derived classes.

Parameters

• OutTrainingState – [out] The updated training state after stepping

• OutInitialState – [out] The initial state if any resets occurred

#	Direction	Name	Type	Description
1	—	OutTrainingState	FImitationTrainingState &	The updated training state after stepping
2	—	OutInitialState	FInitialState &	The initial state if any resets occurred

Source: Source/Schola/Imitation/Public/ImitationConnectors/AbstractImitationConnector.h

Implementation: Source/Schola/Imitation/Private/ImitationConnectors/AbstractImitationConnector.cpp