URPCImitationConnector

A connection to an external imitation learning expert policy implemented via gRPC.

This connector communicates with external expert policies (e.g., in Python) to receive observations, actions, and rewards for imitation learning.

class URPCImitationConnector : public UAbstractImitationConnector

Methods

URPCImitationConnector

URPCImitationConnector()

End of Settings.

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Init

virtual void Init(const FTrainingDefinition &TrainingDefns) override

Initialize the gRPC connector with training definitions.

Parameters

• TrainingDefns (const FTrainingDefinition)

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CheckForStart

virtual bool CheckForStart() override

Check if the connector received a start request and is ready to begin.

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SubmitStateWithInitialState

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

Submit imitation state to external source with initial state information.

Parameters

• InState (const FImitationTrainingState)

• InInitialState (const FInitialState)

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SubmitState

virtual void SubmitState(const FImitationTrainingState &InState)

Submit imitation state to external source without initial state information.

Parameters

• InState (const FImitationTrainingState)

Attributes

bRunScriptOnPlay

bool bRunScriptOnPlay = false

Settings.

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ServerSettings

FRPCServerSettings ServerSettings

Listen address and port for the imitation gRPC service.

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ScriptSettings

FImitationScriptSettings ScriptSettings

The settings for the python script to be launched.

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Script

FLaunchableScript Script

Runtime handle for the imitation collection script when bRunScriptOnPlay is enabled.

Source: Source/ScholaProtobuf/Public/ImitationConnectors/gRPC/gRPCImitationConnector.h