def ds_min_avg_obstacle_clearance(): name = f'samples/{inspect.currentframe().f_code.co_name}.pkl' sampler.sample(N=10000, alpha=0.1, prior_file='samples/ds_prior.pkl', N_sigma=1000, behavior_func=behavior.obstacle_clearance, env=environment.RBF2dGymEnv(time_limit=500, oob_termination=False, use_lidar=False), env_kernel=kernel.RBF2dEnvKernelNormal(), controller=controller.DSController(), controller_kernel=kernel.TransitionKernel(), target_type='match', target_behavior=0, save=name)
def ds_min_legibility(prior_file='samples/ds_prior.pkl'): name = f'samples/{inspect.currentframe().f_code.co_name}.pkl' sampler.sample(N=10000, alpha=0.1, prior_file=prior_file, N_sigma=1000, behavior_func=behavior.neg_behavior(behavior.legibility), env=environment.RBF2dGymEnv(time_limit=500, oob_termination=False, use_lidar=False), env_kernel=kernel.RBF2dEnvKernelNormal(), controller=controller.DSController(), controller_kernel=kernel.TransitionKernel(), target_type='maximal', save=name)