tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
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feat(message passing): used config value for message passing repetitions

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This commit is contained in:
Robin Meersman 2026-05-02 23:15:55 +02:00
parent 6114e36e27
commit 027b13b30f
4 changed files with 14 additions and 3 deletions
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7
src/brittle_star_project/trainers/PPOTrainer.py
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@ -221,10 +221,15 @@ def _get_action_and_value_noise(
adj_matrix: jnp.ndarray,
):
def apply_message_passing(h):
assert message_passer is not None, (
"message passing shouldn't be performed if morphology mode is Centralized"
)
return message_passer.apply(agent_state.params["message_passer_params"], h, adj_matrix)
hidden = apply_per_node(sensor, agent_state.params["sensor_params"], next_obs)
hidden = jax.vmap(apply_message_passing)(hidden)
if message_passer is not None:
hidden = jax.vmap(apply_message_passing)(hidden)
hidden_critic = apply_shared(
feature_extractor, agent_state.params["feature_extractor_params"], next_obs