Open kkkkkaiai opened 3 months ago
Dear author,
Hello! I have a question for the part of "halton-spline", the code in mppi.py is shown as below.
elif self.mppi_mode == 'halton-spline': # shift command 1 time step saved_action = self.mean_action[-1] self.mean_action = torch.roll(self.mean_action, -1, dims=0) self.mean_action[-1] = saved_action cost_total = self._compute_total_cost_batch_halton() action = torch.clone(self.mean_action)
In this part, the final 'action' is given by the mean of 'saved_action', and it only has a 'shift' operation and no other operations.
Is the method work, could you please explain this part. Thanks for your help.
Best wishes
Hi @kkkkkaiai, sorry for the late reply. In case of halton spline sampling, the self.mean_action is updated in _update_distribution.
self.mean_action
_update_distribution
Dear author,
Hello! I have a question for the part of "halton-spline", the code in mppi.py is shown as below.
In this part, the final 'action' is given by the mean of 'saved_action', and it only has a 'shift' operation and no other operations.
Is the method work, could you please explain this part. Thanks for your help.
Best wishes