Organize unused code

flightpolicy/yopo/buffers.py

@@ -152,7 +152,6 @@ class ReplayBuffer(BaseBuffer):
             device: Union[th.device, str] = "cpu",
             n_envs: int = 1,
             optimize_memory_usage: bool = False,
-            handle_timeout_termination: bool = True,
     ):
         super(ReplayBuffer, self).__init__(buffer_size, observation_dim, device, n_envs=n_envs)
 
@@ -165,15 +164,10 @@ class ReplayBuffer(BaseBuffer):
 
         self.optimize_memory_usage = optimize_memory_usage
 
-        self.observations = np.zeros((self.buffer_size, self.n_envs) + observation_dim, dtype=np.float32)
+        self.observations = np.zeros((self.buffer_size, self.n_envs, observation_dim), dtype=np.float32)
         self.goals = np.zeros((self.buffer_size, self.n_envs, 3), dtype=np.float32)
         self.depths = np.zeros((self.buffer_size, self.n_envs, 1, image_WxH[1], image_WxH[0]), dtype=np.float32)
-        self.map_ids = np.zeros((self.buffer_size, self.n_envs, 1), dtype=np.float32)
-
-        # Handle timeouts termination properly if needed
-        # see https://github.com/DLR-RM/stable-baselines3/issues/284
-        self.handle_timeout_termination = handle_timeout_termination
-        self.timeouts = np.zeros((self.buffer_size, self.n_envs), dtype=np.float32)
+        self.map_ids = np.zeros((self.buffer_size, self.n_envs, 1), dtype=np.int16)
 
         if psutil is not None:
             total_memory_usage = self.observations.nbytes + self.goals.nbytes + self.depths.nbytes + self.map_ids.nbytes
@@ -187,16 +181,11 @@ class ReplayBuffer(BaseBuffer):
                     f"replay buffer {total_memory_usage:.2f}GB > {mem_available:.2f}GB"
                 )
 
-    def add(
-            self,
+    def add(self,
             obs: np.ndarray,
             goal: np.ndarray,
             depth: np.ndarray,
-            map_id: int,
-            infos: List[Dict[str, Any]],
-    ) -> None:
-
-        # TODO: 删了obs的格式调整，检查下还能不能正常放
+            map_id: int) -> None:
 
         # Copy to avoid modification by reference
         self.observations[self.pos] = np.array(obs).copy()
@@ -204,9 +193,6 @@ class ReplayBuffer(BaseBuffer):
         self.depths[self.pos] = np.array(depth).copy()
         self.map_ids[self.pos] = np.array(map_id).copy()
 
-        if self.handle_timeout_termination:
-            self.timeouts[self.pos] = np.array([info.get("TimeLimit.truncated", False) for info in infos])
-
         self.pos += 1
         if self.pos == self.buffer_size:
             self.full = True