tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
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fix: rewrote info logger calls to debug calls for debug related logs

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Robin Meersman 2026-05-07 14:00:39 +02:00
parent 4c5122e779
commit 517c3134ca
2 changed files with 10 additions and 8 deletions
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16
src/brittle_star_project/environment/obs_processing.py
View file

@ -128,18 +128,18 @@ def create_obs_processor(
for k, v in obs.items(): for k, v in obs.items():
if hasattr(v, "shape"): if hasattr(v, "shape"):
size = v.size size = v.size
logger11.info(f"[RAW] {k}: shape={v.shape}, size={size}") logger11.debug(f"[RAW] {k}: shape={v.shape}, size={size}")
total += size total += size
else: else:
logger11.info(f"[RAW] {k}: non-array") logger11.debug(f"[RAW] {k}: non-array")
logger11.info(f"[RAW TOTAL FEATURES]: {total}") logger11.debug(f"[RAW TOTAL FEATURES]: {total}")
output = {} output = {}
num_agents = needed_copies # IMPORTANT: number of MLPs num_agents = needed_copies # IMPORTANT: number of MLPs
for key, arr in obs.items(): for key, arr in obs.items():
if key not in ordered_keys or arr.size == 0: if key not in ordered_keys or arr.size == 0:
continue continue
logger11.info(f"[INPUT] {key}: {arr.shape}") logger11.debug(f"[INPUT] {key}: {arr.shape}")
if arr.ndim == 0: if arr.ndim == 0:
arr = arr.reshape(1) arr = arr.reshape(1)
# -------- CENTRALIZED -------- # -------- CENTRALIZED --------
@ -154,7 +154,7 @@ def create_obs_processor(
for i, agent_id in enumerate(agent_indices): for i, agent_id in enumerate(agent_indices):
idx = segment_indices[i] idx = segment_indices[i]
taken = jnp.take(arr, idx, axis=0) # (segs, ...) taken = jnp.take(arr, idx, axis=0) # (segs, ...)
logger11.info(f"WHY {taken.shape}") logger11.debug(f"WHY {taken.shape}")
# pad to 4 # pad to 4
pad_len = 4 - taken.shape[0] pad_len = 4 - taken.shape[0]
padded = jnp.pad(taken, [(0, pad_len)] + [(0, 0)] * (taken.ndim - 1)) padded = jnp.pad(taken, [(0, pad_len)] + [(0, 0)] * (taken.ndim - 1))
@ -182,7 +182,7 @@ def create_obs_processor(
else: else:
out = jnp.repeat(arr[None, :], num_agents, axis=0) out = jnp.repeat(arr[None, :], num_agents, axis=0)
logger11.info(f"[OUTPUT] {key}: {out.shape}") logger11.debug(f"[OUTPUT] {key}: {out.shape}")
output[key] = out output[key] = out
return output return output
@ -220,8 +220,8 @@ def create_obs_processor(
processed = _normalize_features(processed) processed = _normalize_features(processed)
processed = _split_to_agents(processed, morph_mode) processed = _split_to_agents(processed, morph_mode)
flat = _flatten_features(processed) # (num_arms, total_feat) flat = _flatten_features(processed) # (num_arms, total_feat)
logger11.info(f"[FLATTENED FINAL] shape: {flat.shape}") logger11.debug(f"[FLATTENED FINAL] shape: {flat.shape}")
logger11.info(f"[PER AGENT] example row 0 shape: {flat[0].shape}") logger11.debug(f"[PER AGENT] example row 0 shape: {flat[0].shape}")
return _flatten_features(processed) # (agents, feat) return _flatten_features(processed) # (agents, feat)
return jax.jit(jax.vmap(_process_single)) return jax.jit(jax.vmap(_process_single))

2
src/brittle_star_project/ppo.py
View file

@ -119,6 +119,8 @@ def get_action_and_value(
): ):
hidden_sensor = sensor_apply(params["sensor_params"], x) hidden_sensor = sensor_apply(params["sensor_params"], x)
hidden_critic = feature_extractor_apply(params["feature_extractor_params"], x) hidden_critic = feature_extractor_apply(params["feature_extractor_params"], x)
# only apply message passing in decentralized context
if message_passer is not None: if message_passer is not None:
hidden_sensor = message_passer(params["message_passer_params"], hidden_sensor) hidden_sensor = message_passer(params["message_passer_params"], hidden_sensor)