def compute_trajectory(self, gamma, lam, horizon):
"""Compute a single rollout on the agent and return."""
trajectory = rollouts(
self.common_policy,
self.env, horizon, self.observation_filter, self.reward_filter)
if self.config["use_gae"]:
add_advantage_values(trajectory, gamma, lam, self.reward_filter)
else:
add_return_values(trajectory, gamma, self.reward_filter)
return trajectory