eval

Evaluation helpers for SKRL policies.

类：

名称	描述
JITPolicyRunner	TorchScript policy runner.
ONNXPolicyRunner	ONNX policy runner.

函数：

名称	描述
load_agent	Load a trained agent for evaluation/inference.
load_policy	Load a policy as a unified runner supporting JIT or ONNX.

JITPolicyRunner

JITPolicyRunner(model_path: str, device: str | device)

Bases: _BasePolicyRunner

TorchScript policy runner.

Initialize a TorchScript policy runner.

参数：

名称	类型	描述	默认
model_path	str	Path to the JIT model.	必需
device	str | device	Target device.	必需

方法：

名称	描述
act	Compute actions from observations.

act

act(observations: ndarray | Tensor) -> np.ndarray

Compute actions from observations.

返回：

类型	描述
ndarray	np.ndarray: Action array with shape matching the model output.

ONNXPolicyRunner

ONNXPolicyRunner(model_path: str, providers: list | None = None)

Bases: _BasePolicyRunner

ONNX policy runner.

Initialize an ONNX policy runner.

参数：

名称	类型	描述	默认
model_path	str	Path to the ONNX model.	必需
providers	list | None	Optional ONNX providers list.	None

引发：

类型	描述
RuntimeError	If the ONNX model has no inputs.

方法：

名称	描述
act	Compute actions from observations.

act

act(observations: ndarray | Tensor) -> np.ndarray

Compute actions from observations.

返回：

类型	描述
ndarray	np.ndarray: Action array with shape matching the model output.

load_agent

load_agent(model_cls: type, agent_cfg: Any, checkpoint_path: str, observation_shape: tuple, action_shape: tuple, state_shape: tuple | None = None, device: str | device | None = None) -> tuple

Load a trained agent for evaluation/inference.

参数：

名称	类型	描述	默认
model_cls	type	Class of the model (policy).	必需
agent_cfg	Any	Agent configuration object.	必需
checkpoint_path	str	Path to the checkpoint file.	必需
observation_shape	tuple	Tuple defining observation dimensions.	必需
action_shape	tuple	Tuple defining action dimensions.	必需
state_shape	tuple | None	Tuple defining state dimensions.	None
device	str | device | None	Torch device (auto-detected if None).	None

返回：

名称	类型	描述
tuple	tuple	(policy, observation_preprocessor, device).

引发：

类型	描述
FileNotFoundError	If the checkpoint file is not found.
ImportError	If gymnasium is not installed.

load_policy

load_policy(model_path: str, device: str | device = 'cpu') -> JITPolicyRunner | ONNXPolicyRunner

Load a policy as a unified runner supporting JIT or ONNX.

The returned object exposes act(observations) and returns numpy actions. Observations may be numpy arrays or torch tensors. A 1-D observation is treated as a single batch and the returned actions are 1-D accordingly.

返回：

类型	描述
JITPolicyRunner | ONNXPolicyRunner	JITPolicyRunner | ONNXPolicyRunner: Loaded policy runner.

引发：

类型	描述
ValueError	If model_path is None.