Snippet for using demonstrations in ddpg.py agent, blog usage, not executable

ddpg1.py

self.demo_batch_size = 128

def initDemoBuffer(self, demoDataFile, update_stats=True):
#To initiaze the demobuffer with the recorded demonstration data. We also normalize the demo data.

def sample_batch(self):
    if self.bc_loss:
        transitions = self.buffer.sample(self.batch_size - self.demo_batch_size)
        global demoBuffer

        transitionsDemo = demoBuffer.sample(self.demo_batch_size)
        for k, values in transitionsDemo.items():
            rolloutV = transitions[k].tolist()
            for v in values:
                rolloutV.append(v.tolist())
            transitions[k] = np.array(rolloutV)
    else:
        transitions = self.buffer.sample(self.batch_size)