def parameter_dual_regularization(self, pdist, qdist, kappa): regcost = QuadraticCost(self.dm_state, self.dm_state, self.nb_steps + 1) regcost.Cxx, regcost.cx, regcost.c0 = parameter_dual_regularization(pdist.mu, pdist.sigma, qdist.mu, qdist.sigma, kappa, self.dm_state, self.nb_steps) return regcost
def policy_augment_cost(self, alpha): agcost = QuadraticCost(self.dm_state, self.dm_act, self.nb_steps + 1) agcost.Cxx, agcost.cx, agcost.Cuu,\ agcost.cu, agcost.Cxu, agcost.c0 = policy_augment_cost(self.cost.Cxx, self.cost.cx, self.cost.Cuu, self.cost.cu, self.cost.Cxu, self.cost.c0, self.ctl.K, self.ctl.kff, self.ctl.sigma, alpha, self.dm_state, self.dm_act, self.nb_steps) return agcost
def parameter_augment_cost(self, beta): agcost = QuadraticCost(self.dm_param, self.dm_param, self.nb_steps) agcost.Cxx, agcost.cx, agcost.c0 = parameter_augment_cost( self.nominal.mu, self.nominal.sigma, beta, self.dm_param, self.nb_steps) return agcost
def regularized_parameter_augment_cost(self, eta, last): agcost = QuadraticCost(self.dm_param, self.dm_param, self.nb_steps) agcost.Cxx, agcost.cx, agcost.c0 = regularized_parameter_augment_cost( last.mu, last.sigma, eta, self.dm_param, self.nb_steps) return agcost