garage.envs.normalized_env

An environment wrapper that normalizes action, observation and reward.

class NormalizedEnv(env, scale_reward=1.0, normalize_obs=False, normalize_reward=False, expected_action_scale=1.0, flatten_obs=True, obs_alpha=0.001, reward_alpha=0.001)

Bases: garage.Wrapper

Inheritance diagram of garage.envs.normalized_env.NormalizedEnv

An environment wrapper for normalization.

This wrapper normalizes action, and optionally observation and reward.

Parameters:
  • env (Environment) – An environment instance.
  • scale_reward (float) – Scale of environment reward.
  • normalize_obs (bool) – If True, normalize observation.
  • normalize_reward (bool) – If True, normalize reward. scale_reward is applied after normalization.
  • expected_action_scale (float) – Assuming action falls in the range of [-expected_action_scale, expected_action_scale] when normalize it.
  • flatten_obs (bool) – Flatten observation if True.
  • obs_alpha (float) – Update rate of moving average when estimating the mean and variance of observations.
  • reward_alpha (float) – Update rate of moving average when estimating the mean and variance of rewards.
action_space

The action space specification.

Type:akro.Space
observation_space

The observation space specification.

Type:akro.Space
spec

The envionrment specification.

Type:EnvSpec
render_modes

A list of string representing the supported render modes.

Type:list
reset(self)

Call reset on wrapped env.

Returns:
The first observation conforming to
observation_space.
dict: The episode-level information.
Note that this is not part of env_info provided in step(). It contains information of he entire episode， which could be needed to determine the first action (e.g. in the case of goal-conditioned or MTRL.)
Return type:numpy.ndarray
step(self, action)

Call step on wrapped env.

Parameters:action (np.ndarray) – An action provided by the agent.
Returns:The environment step resulting from the action.
Return type:EnvStep
Raises:RuntimeError – if step() is called after the environment has been constructed and reset() has not been called.
render(self, mode)

Render the wrapped environment.

Parameters:mode (str) – the mode to render with. The string must be present in self.render_modes.
Returns:the return value for render, depending on each env.
Return type:object
visualize(self)

Creates a visualization of the wrapped environment.

close(self)

Close the wrapped env.

normalize