VSRL Envs

Observations

The default observations are named tuples with two fields

img: a h x w x (2 * c) array where h, w, c are the height, width, and number of channels of the environment. c can be 3 or 1 depending on whether the observations are grayscale. There are 2 * c channels in the observations because the two most recent frames are both included (the last c channels correspond to the most recent frame).
vector: any additional observations are included as a 1D array; the size of this varies by environment

Each environment has the following arguments affecting the observations

img_scale: a factor by which to downscale all of the images (e.g. img_scale = 2 means the observations will be half of their original size). We set this to 4 in our experiments.
grayscale: whether to use RGB or grayscale images for the observations. We use grayscale images in our experiments.
oracle_obs: if true, the observations are the symbolic states of the environment instead of images. Each observation will be a 1D array whose length and values are environment-specific. This is mainly for debugging and is not used in our experiments.