def __init__(self,**kwargs):
parser = KwargParser()
parser.add('step')
parser.add('num_steps')
parser.add('dampening')
parser.add('control_jitter')
args = parser.parse(kwargs)
self.__dict__.update(args)
def generate_basis(self,points,**kwargs):
# Parse kwargs
parser = KwargParser()
parser.add('special_points',[])
args = parser.parse(kwargs)
special_points = args['special_points']
(N,D) = points.shape
K = self.K
W = self.W
Phi = self.Phi
B = np.sqrt(2.0 / float(N)) * np.sin(points.dot(W) + Phi)
assert((N,K) == B.shape)
# Zero out any special points
if len(special_points) > 0:
B[special_points,:] = 0
return B
def __init__(self,**kwargs):
parser = KwargParser()
parser.add('mass')
parser.add('step')
parser.add('num_steps')
parser.add('dampening')
parser.add('jitter')
args = parser.parse(kwargs)
self.g = 9.806
self.m = 1
self.__dict__.update(args)
def __init__(self,mdp_obj,**kwargs):
parser = KwargParser()
parser.add('num_samples')
parser.add('step_size')
parser.add('policy')
args = parser.parse(kwargs)
self.__dict__.update(args)
self.mdp_obj = mdp_obj
N = mdp_obj.num_states
assert((N,) == self.policy.shape)
self.v = np.zeros(N) # Assume tabular form
self.iteration = 0
def __init__(self,**kwargs):
parser = KwargParser()
parser.add('centers')
parser.add('covariance')
args = parser.parse(kwargs)
self.__dict__.update(args)
def __init__(self,**kwargs):
parser = KwargParser()
parser.add('frequencies')
parser.add('shifts')
args = parser.parse(kwargs)
W = args['frequencies']
assert(2 == len(W.shape))
(D,K) = W.shape
self.W = W
self.K = K
Phi = args['shifts']
assert((K,) == Phi.shape)
self.Phi = Phi
def __init__(self,**kwargs):
parser = KwargParser()
parser.add('K')
args = parser.parse(kwargs)
self.__dict__.update(args)
