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Learning-and-Intelligent-Systems · Dec 5, 2023 · 9f353da · 9f353da
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Showing 2 changed files with 3 additions and 5 deletions.
diff --git a/predicators/approaches/active_sampler_learning_approach.py b/predicators/approaches/active_sampler_learning_approach.py
@@ -192,9 +192,7 @@ def _learn_nsrts(self, trajectories: List[LowLevelTrajectory],
                     # generated before reset with default init states, which
                     # are subsequently overwritten after reset is called.
                     "train_tasks": self._train_tasks,
-                    # The online learning cycle is about to be updated, but
-                    # hasn't been yet, hence the + 1.
-                    "online_learning_cycle": self._online_learning_cycle + 1,
+                    "online_learning_cycle": self._online_learning_cycle,
                 },
                 f)
 

diff --git a/predicators/approaches/online_nsrt_learning_approach.py b/predicators/approaches/online_nsrt_learning_approach.py
@@ -47,6 +47,8 @@ def get_name(cls) -> str:
         return "online_nsrt_learning"
 
     def get_interaction_requests(self) -> List[InteractionRequest]:
+        # This is called at the beginning of a new online learning cycle.
+        self._online_learning_cycle += 1
         # Explore in the train tasks. The number of train tasks that are
         # explored at each timestep is a hyperparameter. The train task
         # is randomly selected.
@@ -95,8 +97,6 @@ def learn_from_interaction_results(
         self._learn_nsrts(self._dataset.trajectories,
                           self._online_learning_cycle,
                           annotations=annotations)
-        # Advance the online learning cycle.
-        self._online_learning_cycle += 1
 
     def _update_dataset(self, trajectory: LowLevelTrajectory) -> None:
         """Add a new low-level trajectory to the dataset."""