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Reverb trajectory sequence observer.

Inherits From: ReverbAddTrajectoryObserver

This is equivalent to ReverbAddTrajectoryObserver but sequences are not cut when a boundary trajectory is seen. This allows for sequences to be sampled with boundaries anywhere in the sequence rather than just at the end.

Consider using this observer when you want to create training experience that can encompass any subsequence of the observed trajectories.

py_client Python client for the reverb replay server.
table_name The table name(s) where samples will be written to.
sequence_length The sequence_length used to write to the given table.
stride_length The integer stride for the sliding window for overlapping sequences. The default value of 1 creates an item for every window. Using L = sequence_length this means items are created for times {0, 1, .., L-1}, {1, 2, .., L}, .... In contrast, stride_length = L will create an item only for disjoint windows {0, 1, ..., L-1}, {L, ..., 2 * L - 1}, ....
priority Initial priority for new samples in the RB.



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Closes the writer of the observer.


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Open the writer of the observer.


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Resets the state of the observer.

No data observed before the reset will be pushed to the RB.


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Writes the trajectory into the underlying replay buffer.

Allows trajectory to be a flattened trajectory. No batch dimension allowed.

trajectory The trajectory to be written which could be (possibly nested) trajectory object or a flattened version of a trajectory. It assumes there is no batch dimension.