protomotions.agents.supervised.expert_utils module

Expert observation utilities for supervised agents.

protomotions.agents.supervised.expert_utils.validate_expert_action_contract(

expert_robot,

expert_env,

student_robot,

student_env,

)

Expert labels and executed actions share one joint order and raw-action meaning.

protomotions.agents.supervised.expert_utils.validate_expert_sensor_contract(

expert_env_config,

expert_agent_config,

target_sensors,

)

Keep a frozen expert’s sensor inputs unchanged in the student environment.

Privileged bindings are independent of sensors. A clean estimate requires the same channels and their placement; a noisy estimate also requires the same noise and drift. Random seeds need not match: the contract describes measurements, not their draws.

protomotions.agents.supervised.expert_utils.get_expert_actor_in_keys(expert_agent_config)

Input keys of the expert’s actor, from model.actor.in_keys or model.in_keys.

protomotions.agents.supervised.expert_utils.get_expert_observation_keys(

expert_env_config,

expert_agent_config,

prefix='expert_',

)

Get the prefixed observation keys that would be added for the expert.

protomotions.agents.supervised.expert_utils.get_expert_observation_components(

expert_env_config,

expert_agent_config,

existing_obs_keys=None,

prefix='expert_',

)

Extract observation components needed by expert’s actor with prefixed keys.