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)