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Doubt on 'conditions' parameter #55

Closed mjm522 closed 7 years ago

mjm522 commented 7 years ago

I am unable to find out what exactly is the role of 'conditions' :4 in the hyperparameters file? Could someone please help?

wmontgomery4 commented 7 years ago

It's maybe poorly named, but conditions just refers to the number of experimental conditions, which is typically just the number of initial positions.

mjm522 commented 7 years ago

Thank you for the reply. Could you please elaborate a little more? Number of initial positions? Do you mean four different positions (of the robot) from which the same experiment is done parallelly? Or four different start locations of end effector (for e.g. the peg insertion task)? Why is it done like that? Is is just for the having different views of the world if you are using cov-nets for image processing?

wmontgomery4 commented 7 years ago

It can refer to different positions of the robot, or different target positions, it depends on how you set up the rest of the hyperparams. It's done like this because that's the point of GPS: we essentially solve the problem locally from M different initial conditions, then use a neural network to combine those local solutions into one global solution.

cbfinn commented 7 years ago

Please refer to the paper for basic algorithmic questions: http://jmlr.org/papers/v17/15-522.html