Fix PGA-MAP-Elites

adaptive-intelligent-robotics · Dec 29, 2023 · dd729cf · dd729cf
1 parent 5fb2b65
commit dd729cf
Showing 1 changed file with 12 additions and 5 deletions.
diff --git a/qdax/core/emitters/qpg_emitter.py b/qdax/core/emitters/qpg_emitter.py
@@ -12,7 +12,7 @@
 import optax
 from jax import numpy as jnp
 
-from qdax.core.containers.repertoire import MapElitesRepertoire
+from qdax.core.containers.repertoire import Repertoire
 from qdax.core.emitters.emitter import Emitter, EmitterState
 from qdax.core.neuroevolution.buffers.buffer import QDTransition, ReplayBuffer
 from qdax.core.neuroevolution.losses.td3_loss import make_td3_loss_fn
@@ -121,7 +121,7 @@ def use_all_data(self) -> bool:
     def init(
         self,
         random_key: RNGKey,
-        repertoire: MapElitesRepertoire,
+        repertoire: Repertoire,
         genotypes: Genotype,
         fitnesses: Fitness,
         descriptors: Descriptor,
@@ -168,6 +168,13 @@ def init(
             buffer_size=self._config.replay_buffer_size, transition=dummy_transition
         )
 
+        # get the transitions out of the dictionary
+        assert "transitions" in extra_scores.keys(), "Missing transitions or wrong key"
+        transitions = extra_scores["transitions"]
+
+        # add transitions in the replay buffer
+        replay_buffer = replay_buffer.insert(transitions)
+
         # Initial training state
         random_key, subkey = jax.random.split(random_key)
         emitter_state = QualityPGEmitterState(
@@ -177,9 +184,9 @@ def init(
             actor_opt_state=actor_optimizer_state,
             target_critic_params=target_critic_params,
             target_actor_params=target_actor_params,
+            replay_buffer=replay_buffer,
             random_key=subkey,
             steps=jnp.array(0),
-            replay_buffer=replay_buffer,
         )
 
         return emitter_state, random_key
@@ -190,7 +197,7 @@ def init(
     )
     def emit(
         self,
-        repertoire: MapElitesRepertoire,
+        repertoire: Repertoire,
         emitter_state: QualityPGEmitterState,
         random_key: RNGKey,
     ) -> Tuple[Genotype, RNGKey]:
@@ -279,7 +286,7 @@ def emit_actor(self, emitter_state: QualityPGEmitterState) -> Genotype:
     def state_update(
         self,
         emitter_state: QualityPGEmitterState,
-        repertoire: Optional[MapElitesRepertoire],
+        repertoire: Optional[Repertoire],
         genotypes: Optional[Genotype],
         fitnesses: Optional[Fitness],
         descriptors: Optional[Descriptor],