[Feature]: Support for planners and CEM #384
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vmoens
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Great feature, I love it
LGTM for the implementation, just a few comments before we can land this.
The logic seems to make sense. I'd like to see a test of this too, across mocking and real envs if possible (can be done with SerialEnv, ParallelEnv is paradoxically slower with tests because it takes some time to launch).
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| for key in td.keys(): | ||
| if key != "action": | ||
| assert torch.allclose(td[key], td_copy[key]) |
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shouldn't you also test the values of the action?
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what should i test them for? I'm already testing that they exit and have the right shape but i don't really have any information that could allow to test for the values
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Description
This PR adds support for MPC planners and in particular the CEM planner (The cross-entropy method for optimization, Botev et al 2013)
Motivation and Context
Planners are a key component of RL and is needed for methods such as PlaNet and PETS.
Types of changes
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