def init_planner(self, init_plan_scheme): r_r = self.traj.reward(self.reward.reward_th, fw=tt) if config.PREDICT_HUMAN_IGNORES_ROBOT: # Predict that human's reward is independent of the robot's trajectory # (i.e. human ignores the robot). r_h = self.traj_h.reward(self.reward_h_ignore_robot.reward_th, fw=tt) else: # Predict that human's reward is not independent of the robot's # trajectory (i.e. the robot's prediction of the human will rely # on how it chooses to initialize the human's belief of the robot's # plan). r_h = self.traj_h.reward(self.reward_h.reward_th, fw=tt) self.optimizer = PredictReactMaximizer( r_h, self.traj_h, r_r, self.traj, use_second_order=self.use_second_order, init_plan_scheme=init_plan_scheme) self.planner = TwoCarPlanner(self.traj, self.traj_h, self.human, self.optimizer, self.bounds, name=self.name)
def init_planner(self, init_plan_scheme): r_h = self.traj_h.reward(self.reward_h.reward_torch, fw=torch) r_r = self.traj.reward(self.reward.reward_torch, fw=torch) self.optimizer = ILQRMaximizer(self.reward_h, self.traj_h, self.reward, self.traj, self.dyn) self.planner = TwoCarPlanner(self.traj, self.traj_h, self.human, self.optimizer, self.bounds, name=self.name)
def init_planner(self, init_plan_scheme): r_h = self.traj_h.reward(self.reward_h.reward_th, fw=tt) r_r = self.traj.reward(self.reward.reward_th, fw=tt) self.optimizer = IteratedBestResponseMaximizer\ ( r_h, self.traj_h, r_r, self.traj, init_plan_scheme=init_plan_scheme) self.planner = TwoCarPlanner(self.traj, self.traj_h, self.human, self.optimizer, self.bounds, name=self.name)
def init_planner(self, init_plan_scheme): r_r = self.traj.reward(self.reward.reward_th, fw=tt) r_h = self.traj_h.reward(self.reward_h.reward_th, fw=tt) # self.optimizer = NestedMaximizer( # r_h, self.traj_h, r_r, self.traj, # use_second_order=self.use_second_order) self.optimizer = NestedMaximizer( r_h, self.traj_h, r_r, self.traj, use_second_order=self.use_second_order, init_plan_scheme=init_plan_scheme) self.planner = TwoCarPlanner(self.traj, self.traj_h, self.human, self.optimizer, self.bounds, name=self.name)
def init_planner(self, init_plan_scheme): self.traj_truck = None r_r = self.traj.reward(self.reward.reward_th, fw=tt) r_h = self.traj_h.reward(self.reward_h.reward_th, fw=tt) self.optimizer = HierarchicalMaximizer( r_h, self.traj_h, r_r, self.traj, mat_name=self.mat_name, n=self.strat_dim, proj=self.proj.proj_th, traj_truck=self.traj_truck, use_second_order=self.use_second_order, init_plan_scheme=init_plan_scheme) self.planner = TwoCarPlanner(self.traj, self.traj_h, self.human, self.optimizer, self.bounds, name=self.name)