IMdpObservation¶

interface · namespace Hazel

Engine-side observation function. Computes a slice of the observation vector from MuJoCo/agent state. Each implementation corresponds to one named observation term (e.g., "base_lin_vel", "joint_pos", "projected_gravity").

public interface IMdpObservation

Properties¶

Descriptor¶

ComponentDescriptor Descriptor { get; }

Capability descriptor for the manifest.

Name¶

string Name { get; }

Unique identifier used in contracts and manifests.

Methods¶

Compute(MdpContext, Dictionary, float[], int)¶

int Compute(MdpContext ctx, Dictionary<string, string> parameters, float[] buffer, int offset)

Compute observation values into the provided buffer. Returns the number of floats written. Must not exceed OutputSize. Hot path — must not allocate.

GetOutputSize(RobotAgent, Dictionary)¶

int GetOutputSize(RobotAgent agent, Dictionary<string, string> parameters)

Number of floats this observation produces. May depend on the agent (e.g., joint count). Called once during negotiation, not per-step.

Source: Hazel/Learn/MdpComponent.cs