attitude

Shared model with rotation-manifold projection layers.

Control modes and their action dimensions::

cmd_ctatt_euler → 4D [thrust, roll, pitch, yaw] cmd_ctatt_rotvec → 4D [thrust, rx, ry, rz] cmd_ctatt_quat → 5D [thrust, qx, qy, qz, qw] cmd_ctatt_rotmat → 10D [thrust, r00..r22]

Projection layers ensure the rotation component of the policy output lies on a valid SO(3) manifold. Available variants per rotation type:

============== ============================================================ Euler / rotvec EulerProjection (tanh clamp) Quaternion QuatProjection (tanh + L2-normalize) QuatPlusProjection (tanh + sigmoid w + L2-normalize) QuatOffsetProjection (offset by identity quat) Rotation RotmatProjection (tanh + SVD-orthogonalize) matrix RotmatOffsetProjection (offset by identity matrix) ============== ============================================================

Select a non-default projection by passing projection_cls when constructing :class:SharedAttitude. The config module re-exports the projection classes for compatibility with existing experiments.

类：

名称	描述
SharedAttitude	Shared actor-critic with rotation-manifold policy projection.

SharedAttitude

SharedAttitude(observation_space, state_space, action_space, device, clip_actions=False, clip_log_std=True, min_log_std=-20, max_log_std=2, reduction='sum', projection_cls: type[Module] | None = None)

Bases: GaussianMixin, DeterministicMixin, Model

Shared actor-critic with rotation-manifold policy projection.

The trunk is a 2-hidden-layer MLP (128 units, ELU activation) shared between policy and value heads. The policy mean passes through an optional :class:nn.Module projection layer that enforces the rotation component to lie on the correct manifold (e.g. unit quaternion, orthogonal matrix).

The projection is selected by action_dim via :data:_PROJECTION_MAP unless an explicit projection_cls is provided.

Initialize shared trunk, heads, and optional projection layer.

参数：

名称	类型	描述	默认
observation_space		Environment observation space.	必需
state_space		Environment state space.	必需
action_space		Environment action space.	必需
device		Torch device for parameters and computation.	必需
clip_actions		Whether to clip actions to the action space bounds (passed to :class:GaussianMixin).	False
clip_log_std		Whether to clip the log-standard-deviation (passed to :class:GaussianMixin).	True
min_log_std		Minimum log-std value.	-20
max_log_std		Maximum log-std value.	2
reduction		Reduction mode for the log-probability.	'sum'
projection_cls	type[Module] | None	Optional override for the rotation-manifold projection layer. When None (default), the projection is auto-detected from action_space via :data:_PROJECTION_MAP.	None

方法：

名称	描述
act	Dispatch to the appropriate mixin based on role.
compute	Compute policy mean or state value.

act

act(inputs: Any, role: str) -> Any

Dispatch to the appropriate mixin based on role.

参数：

名称	类型	描述	默认
inputs	Any	Model inputs dict (must contain "observations").	必需
role	str	"policy" or "value".	必需

返回：

类型	描述
Any	Action outputs for the given role, or None if unknown.

compute

compute(inputs: Any, role: str) -> Any

Compute policy mean or state value.

For the "policy" role the mean passes through the rotation-manifold projection (if configured) and the trunk features are cached for reuse by the value head.

参数：

名称	类型	描述	默认
inputs	Any	Model inputs dict (must contain "observations").	必需
role	str	"policy" or "value".	必需

返回：

类型	描述
Any	(output_tensor, extras_dict) for the given role,
Any	or None if role is unknown.