baselines/her/replay_buffer.py
def sample(self, batch_size):
        """Returns a dict {key: array(batch_size x shapes[key])}
        """
        buffers = {}

        with self.lock:
            assert self.current_size > 0
            for key in self.buffers.keys():
                buffers[key] = self.buffers[key][:self.current_size]

        buffers['o_2'] = buffers['o'][:, 1:, :]
        buffers['ag_2'] = buffers['ag'][:, 1:, :]

        transitions = self.sample_transitions(buffers, batch_size)

        for key in (['r', 'o_2', 'ag_2'] + list(self.buffers.keys())):
            assert key in transitions, "key %s missing from transitions" % key

        return transitions
def sample(self, batch_size):
        """Returns a dict {key: array(batch_size x shapes[key])}
        """
        buffers = {}

        with self.lock:
            assert self.current_size > 0
            for key in self.buffers.keys():
                buffers[key] = self.buffers[key][:self.current_size]

        buffers['o_2'] = buffers['o'][:, 1:, :]
        buffers['ag_2'] = buffers['ag'][:, 1:, :]

        transitions = self.sample_transitions(buffers, batch_size)

        for key in (['r', 'o_2', 'ag_2'] + list(self.buffers.keys())):
            assert key in transitions, "key %s missing from transitions" % key

        return transitions
Returns a dict {key: array(batch_size x shapes[key])}