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+20
-6
+3
-3
rapport/context.typ
+3
-3
rapport/context.typ
···
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$
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Pi' = & cases(
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argmax_(pi) cL_r (pi, Pi),
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"s.c. distance"(Pi', Pi) < delta
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)
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argmax_(pi) cL_r (pi, Pi),
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"s.c. distance"(Pi', Pi) < delta
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)
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$
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Avec $delta$ une limite supérieure de distance entre $Pi'$, la nouvelle politique, et $Pi$, l'ancienne.
+17
-3
slides/main.typ
+17
-3
slides/main.typ
···
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#centered(scale(70%, reflow: true, diagram({
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node(name: <sdk>, (0, 0))[SDK]
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node(enclose: ((1, 1), (-1, 1)), stroke: blue, inset: 10pt, snap: false, text(fill: blue)[Canaux \ DDS])
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node(enclose: ((1, 1), (-1, 1)), stroke: blue, inset: 10pt, snap: false, text(
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fill: blue,
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)[Canaux \ DDS])
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node(name: <lowcmd>, (1, 1))[`rt/lowcmd`]
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node(name: <lowstate>, (-1, 1))[`rt/lowstate`]
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node(name: <bridge>, enclose: ((1, 2), (-1, 2)), stroke: black, inset: 10pt)[Bridge]
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node(
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name: <bridge>,
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enclose: ((1, 2), (-1, 2)),
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stroke: black,
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inset: 10pt,
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)[Bridge]
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node(name: <mujoco>, (0, 3))[Mujoco]
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···
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edge(<lowstate>, (-1, 2), "<-", bend: -20deg)[pub]
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edge((-1, 2), <mujoco>, "<-", bend: -20deg, `... = data->sensordata[i]`)
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edge(<mujoco>, <mujoco>, "->", bend: 130deg, loop-angle: -90deg, `mj_step(model, data)`)
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edge(
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<mujoco>,
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<mujoco>,
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"->",
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bend: 130deg,
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loop-angle: -90deg,
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`mj_step(model, data)`,
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)
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})))
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