state_representation module

Uses tilecoding to create state.

Authors:

Michele Albach, Shibhansh Dohare, David Quail, Parash Rahman, Niko Yasui.

class state_representation.StateConstants

Constants useful for the tile coding in StateManager.

Note

The constants here are just for reference. You may change them however you wish.

CHANNELS = 3

IMAGE_CO = 640

IMAGE_IHT_SIZE = 32

IMAGE_LI = 480

IMAGE_START_INDEX = 0

IMU_IHT_SIZE = 32

IMU_START_INDEX = 9600

IR_ITH_SIZE = 6

IR_START_INDEX = 9696

NUM_IMAGE_INTERVALS = 4

NUM_IMAGE_TILINGS = 4

NUM_IMU_TILES = 4

NUM_IMU_TILINGS = 4

NUM_ODOM_TILES = 5

NUM_ODOM_TILINGS = 1

NUM_PP = 4950L

NUM_PP_TILES = 4

NUM_PP_TILINGS = 4

NUM_RANDOM_POINTS = 100

ODOM_IHT_SIZE = 64

ODOM_START_INDEX = 9632

PIXEL_FEATURE_LENGTH = 96

PP_FEATURE_LENGTH = 158400L

PP_IHT_SIZE = 32

PP_START_INDEX = 9702

SCALE_IMU = 2.0

SCALE_ODOM = 2.5

SCALE_PP = 2.0

SCALE_RGB = 0.015625

TOTAL_FEATURE_LENGTH = 168106L

TOTAL_IMAGE_FEATURE_LENGTH = 9600

indices_in_phi = {'bias': array([168105]), 'imu': array([9600, 9601, 9602, 9603, 9604, 9605, 9606, 9607, 9608, 9609, 9610, 9611, 9612, 9613, 9614, 9615, 9616, 9617, 9618, 9619, 9620, 9621, 9622, 9623, 9624, 9625, 9626, 9627, 9628, 9629, 9630, 9631]), 'odom': array([9632, 9633, 9634, 9635, 9636, 9637, 9638, 9639, 9640, 9641, 9642, 9643, 9644, 9645, 9646, 9647, 9648, 9649, 9650, 9651, 9652, 9653, 9654, 9655, 9656, 9657, 9658, 9659, 9660, 9661, 9662, 9663, 9664, 9665, 9666, 9667, 9668, 9669, 9670, 9671, 9672, 9673, 9674, 9675, 9676, 9677, 9678, 9679, 9680, 9681, 9682, 9683, 9684, 9685, 9686, 9687, 9688, 9689, 9690, 9691, 9692, 9693, 9694, 9695]), 'last_action': array([], dtype=int64), 'bump': array([168102, 168103, 168104]), 'pixel_pairs': array([ 9702, 9703, 9704, ..., 168099, 168100, 168101]), 'image': array([ 0, 1, 2, ..., 9597, 9598, 9599]), 'ir': array([9696, 9697, 9698, 9699, 9700, 9701]), 'cimage': array([ 0, 1, 2, ..., 9597, 9598, 9599])}

num_active_features = {'bias': 1, 'imu': 4, 'odom': 1, 'last_action': 1, 'bump': 3, 'pixel_pairs': 19800L, 'image': 1200, 'ir': 3, 'cimage': 1200}

class state_representation.StateManager(features_to_use)

Bases: object

get_observations(bump, ir, charging, odom, imu, **kwargs)

A way to access auxiliary state information.

get_phi(*args, **kw)

Gets the binary tile coding of all the pertinent fields.