tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
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refactor: lift apply_per_node

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Tibo De Peuter 2026-05-12 21:17:24 +02:00
parent 816102d14f
commit da06fa2f2e
Signed by: tdpeuter
SSH key fingerprint: SHA256:u/h/LVoqKF1Iz02uOyxe6hcjmoZASCGV2HM0TG9ZMoU
4 changed files with 35 additions and 32 deletions
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6
scripts/evaluate_checkpoints.py
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@ -26,7 +26,7 @@ from brittle_star_project.MLPs.mlps import (
)
from brittle_star_project.MLPs.adjancency_builder import build_adjacency
from brittle_star_project.environment import MorphMode
from brittle_star_project.trainers.PPOTrainer import apply_per_node
from brittle_star_project.MLPs.routing import apply_per_node
import logging
import re
from pathlib import Path
@ -219,8 +219,8 @@ def main(dict_cfg: DictConfig) -> None:
eval_fn = build_eval_rollout_fn(
env=env,
obs_processor=obs_processor,
sensor_apply=lambda p, x: apply_per_node(sensor, p, x),
actor_apply=lambda p, x: apply_per_node(actor, p, x),
sensor_apply=lambda p, x: apply_per_node(sensor.apply, p, x),
actor_apply=lambda p, x: apply_per_node(actor.apply, p, x),
message_passer_apply=(None if message_passer is None else message_passer.apply),
action_low=action_low,
action_high=action_high,