From only looking at the docstrings of the relevant functions, I think I noticed a discrepancy to the paper. I am writing this without checking the math in the code so I may be wrong.
V returned in RbfController.compute_action() in controllers.py
corresponds to Cov[x,u]
From backtracking to MGPR.predict_given_factorizations() in models/mgpr.py, I think the docstrings indicate that:
V = cov[x,x]^{-1} @ cov[x,pi] @ cov[pi,u]
where I call pi the action before squashing
From section 5.5 of the 2015 paper, it says:
V = cov[x,pi] @ cov[pi,pi]^{-1} @ cov[pi,u]
Are these expressions equivalent or have I misread something. Thanks!
From only looking at the docstrings of the relevant functions, I think I noticed a discrepancy to the paper. I am writing this without checking the math in the code so I may be wrong.
Vreturned inRbfController.compute_action()incontrollers.pycorresponds to Cov[x,u]From backtracking to
MGPR.predict_given_factorizations()inmodels/mgpr.py, I think the docstrings indicate that:V = cov[x,x]^{-1} @ cov[x,pi] @ cov[pi,u]
where I call pi the action before squashing
From section 5.5 of the 2015 paper, it says:
V = cov[x,pi] @ cov[pi,pi]^{-1} @ cov[pi,u]
Are these expressions equivalent or have I misread something. Thanks!