def visualize_local_policy(self, m, title='pol_lqr'):
from gps.visualization import visualize_linear_model
from gps.visualization.linear_model import visualize_K
traj_info = self.cur[m].traj_info
traj_distr = self.new_traj_distr[m]
visualize_linear_model(file_name=self._data_files_dir +
'plot_%s-m%d-%02d' %
(title, m, self.iteration_count),
coeff=traj_distr.K,
intercept=traj_distr.k,
cov=traj_distr.pol_covar,
x=traj_info.xmu[:, :self.dX],
y=None,
coeff_label='$\\mathbf{K}_t$',
intercept_label='$\\mathbf{k}_t$',
cov_label='$\\Sigma_t$',
y_label='$\\mathbf{u}_t$')
for dim in range(self.dU):
visualize_K(file_name=self._data_files_dir +
'plot_%s_K%d-m%d-%02d' %
(title, dim, m, self.iteration_count),
K=traj_distr.K[:, dim],
labels=self.X_labels)
def visualize_policy_linearization(self, m, title='pol_lin'):
from gps.visualization import visualize_linear_model
pol_info = self.cur[m].pol_info
traj_info = self.cur[m].traj_info
visualize_linear_model(file_name=self._data_files_dir +
'plot_%s-m%d-%02d' %
(title, m, self.iteration_count),
coeff=pol_info.pol_K,
intercept=pol_info.pol_k,
cov=pol_info.pol_S,
x=traj_info.xmu[:, :self.dX],
y=None,
coeff_label='$\\bar{\\mathbf{K}}_t$',
intercept_label='$\\bar{\\mathbf{k}}_t$',
cov_label='$\\bar{\\Sigma}_t$',
y_label='$\\bar{\\mathbf{u}}_t$')
def visualize_dynamics(self, m):
from gps.visualization import visualize_linear_model
traj_info = self.cur[m].traj_info
dynamics = traj_info.dynamics
visualize_linear_model(file_name=self._data_files_dir +
'plot_dynamics_m%d-%02d' %
(m, self.iteration_count),
coeff=dynamics.Fm[:-1],
intercept=dynamics.fv[:-1],
cov=dynamics.dyn_covar[:-1],
x=traj_info.xmu[:-1],
y=traj_info.xmu[1:, :self.dX],
coeff_label='$f_{\\mathbf{x}\\mathbf{u} t}$',
intercept_label='$f_{\\mathbf{c} t}$',
cov_label='$\\mathbf{F}_t$',
y_label='$\\mathbf{x}_{t+1}$')