garage.replay_buffer.her_replay_buffer module¶
This module implements a Hindsight Experience Replay (HER).
See: https://arxiv.org/abs/1707.01495.
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class
HERReplayBuffer
(replay_k, reward_fn, capacity_in_transitions, env_spec)[source]¶ Bases:
garage.replay_buffer.path_buffer.PathBuffer
Replay buffer for HER (Hindsight Experience Replay).
It constructs hindsight examples using future strategy.
Parameters: - replay_k (int) – Number of HER transitions to add for each regular Transition. Setting this to 0 means that no HER replays will be added.
- reward_fn (callable) – Function to re-compute the reward with substituted goals.
- capacity_in_transitions (int) – total size of transitions in the buffer.
- env_spec (garage.envs.EnvSpec) – Environment specification.
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add_path
(path)[source]¶ Adds a path to the replay buffer.
For each transition in the given path except the last one, replay_k HER transitions will added to the buffer in addition to the one in the path. The last transition is added without sampling additional HER goals.
Parameters: path (dict[str, np.ndarray]) – Each key in the dict must map to a np.ndarray of shape \((T, S^*)\).