dataset.py

import numpy as np
from collections import defaultdict

class TrajectoryBuffer:


    def __init__(self, traj_steps):
        self.traj_steps      = traj_steps

        self.step_idx   = 0
        self.buffers    = defaultdict(list)
        self.traj_pool  = defaultdict(list)
        self.batch_size   = None

    def append_step(self, obs, ext_obs,action, reward, done):
        """
        obs      : [B, …]
        action   : [B, …]
        reward   : [B]
        done     : [B]
        """
        if self.batch_size is None:
            self.batch_size = obs.shape[0]
        self.buffers["obs"].append(obs.copy())
        self.buffers["action"].append(action.copy())
        self.buffers["reward"].append(reward.copy())
        self.buffers["done"].append(done.copy())
        self.buffers["ext_obs"].append(ext_obs.copy())

        self.step_idx += 1

        if self.step_idx % self.traj_steps == 0:
            for k, lst in self.buffers.items():
                traj_segment = np.stack(lst, axis=1)
                self.traj_pool[k].append(traj_segment)
                lst.clear()

    def force_complete_trajectory(self):
        """Force completion of current trajectory by padding with the last step"""
        if len(self.buffers["obs"]) > 0:
            # Get the last step data
            last_obs = self.buffers["obs"][-1].copy()
            last_ext_obs = self.buffers["ext_obs"][-1].copy()
            last_action = self.buffers["action"][-1].copy()
            last_reward = np.zeros_like(self.buffers["reward"][-1])  # Zero reward for padding
            last_done = np.ones_like(self.buffers["done"][-1], dtype=np.bool_)  # Mark as done
            
            # Pad until we complete the trajectory
            while self.step_idx % self.traj_steps != 0:
                self.buffers["obs"].append(last_obs.copy())
                self.buffers["ext_obs"].append(last_ext_obs.copy())
                self.buffers["action"].append(last_action.copy())
                self.buffers["reward"].append(last_reward.copy())
                self.buffers["done"].append(last_done.copy())
                self.step_idx += 1
            
            # Now complete the trajectory
            for k, lst in self.buffers.items():
                traj_segment = np.stack(lst, axis=1)
                self.traj_pool[k].append(traj_segment)
                lst.clear()

    def finalize(self):
        # Complete any remaining partial trajectory
        self.force_complete_trajectory()
        return {k: np.stack(v, axis=0) for k, v in self.traj_pool.items()}

    def save(self, path):
        np.savez_compressed(path, **self.finalize())

    def __len__(self):
        if not self.traj_pool or self.batch_size is None:
            return 0
        flushes = len(next(iter(self.traj_pool.values())))
        return flushes * self.batch_size