Source code for protomotions.agents.evaluators.config

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# SPDX-License-Identifier: Apache-2.0
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"""Configuration classes for evaluators."""

from typing import List, Optional, Union
from dataclasses import dataclass, field




@dataclass
class EvaluatorConfig:
    """Configuration for base evaluator."""

    _target_: str = "protomotions.agents.evaluators.base_evaluator.BaseEvaluator"
    eval_metrics_every: Optional[int] = field(
        default=200,
        metadata={"help": "Evaluate metrics every N epochs. None = disabled.", "min": 1}
    )





@dataclass
class MotionWeightsRulesConfig:
    """Configuration for motion weights update rule."""

    motion_weights_update_success_discount: float = field(
        default=0.999,
        metadata={"help": "Discount factor for successful motion weights.", "min": 0.0, "max": 1.0}
    )
    motion_weights_update_failure_discount: float = field(
        default=0.999,
        metadata={"help": "Discount for failed motions. 0 = set weight straight to 1.", "min": 0.0, "max": 1.0}
    )
    min_motion_weight: Union[float, str] = field(
        default="1/num_motions",
        metadata={"help": "Minimum weight for any motion. '1/num_motions' or float value."}
    )





@dataclass
class MimicEvaluatorConfig(EvaluatorConfig):
    """Configuration for Mimic evaluator."""

    _target_: str = "protomotions.agents.evaluators.mimic_evaluator.MimicEvaluator"
    eval_metric_keys: List[str] = field(
        default_factory=list,
        metadata={"help": "Metric keys to track during evaluation."}
    )
    max_eval_steps: int = field(
        default=600,
        metadata={"help": "Maximum steps per evaluation episode.", "min": 1}
    )
    save_predicted_motion_lib_every: Optional[int] = field(
        default=3,
        metadata={"help": "Save pred_motion_lib every M evals. None = disabled.", "min": 1}
    )
    motion_weights_rules: MotionWeightsRulesConfig = field(
        default_factory=MotionWeightsRulesConfig,
        metadata={"help": "Rules for updating motion sampling weights."}
    )