Additional Methods of Using Monitor In Training And Testing (Non-CPO) #1
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ways (excluding use of CPO), In particular, the monitor is worked into the environment and used to provide: *activation of a safety fallback policy *modification of the reward to encorporate the monitor signal *provide additional features to the observations received by the controller.
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…e training in envs/monitorEncorporated_env.py train/train_monitorEncorporated_straight_planner.py . It is still very much a toy, but it matches the non-toy CPO safety constraints Edward is using . Also, made some trivial adjustments in the envs/monitorEncorporated_env.py to allow the quantitative monitor subformulas to the action - this leverages 95% of infulstructure already there, a very trivial change. I think I took it out before intentionally since I thought in matched the monitor use-cases better.... we might be abusing terminology to call this stuff a monitor - maybe...
…hat was noted in the previous commit log for train/train_monitorEncorporated_straight_planner.py , the fallback controller and quantitative monitor used are toy-ish, but they match the non-toy work Edward is performing with CPO.
…s a bit at a time.
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Committing code to use the feedback from safety monitors in a variety of
ways (excluding use of CPO), In particular, the monitor is worked into
the environment and used to provide:
*activation of a safety fallback policy
*modification of the reward to encorporate the monitor signal
*provide additional features to the observations received by the
controller.