| import numpy as np | |
| def predict(obs, gain=20.0): | |
| error = obs["desired_goal"] - obs["achieved_goal"] | |
| return np.clip(gain * error, -1.0, 1.0).astype(np.float32) | |
| import numpy as np | |
| def predict(obs, gain=20.0): | |
| error = obs["desired_goal"] - obs["achieved_goal"] | |
| return np.clip(gain * error, -1.0, 1.0).astype(np.float32) | |