(self, xs)
| 94 | |
| 95 | @partial(jax.jit, static_argnums=(0,)) |
| 96 | def eval_xref_logpd(self, xs): |
| 97 | xs_err = xs[:, :2] - self.xref[:, :2] |
| 98 | # theta_err = xs[:, 3] - self.thetaref |
| 99 | logpd = 0.0-( |
| 100 | (jnp.clip(jnp.linalg.norm(xs_err, axis=-1), 0.0, 0.5) / 0.5) ** 2 |
| 101 | ).mean(axis=-1) |
| 102 | return logpd |
| 103 | |
| 104 | @property |
| 105 | def action_size(self): |
nothing calls this directly
no outgoing calls
no test coverage detected