rcognita.actors.ActorCLF

class rcognita.actors.ActorCLF(*args, **kwargs)

ActorCLF is an actor class that aims to optimize the decay of a Control-Lyapunov function (CLF).

__init__(*args, **kwargs)

Parameters

safe_controller (SafeController) – object of class SafeController that provides a safe action if the current action would violate the safe set.

Methods

CALF_decay_constraint_for_actor(weights)	Constraint for the actor optimization, ensuring that the critic value will not decrease by less than the required decay rate.
CALF_decay_constraint_for_actor_same_critic(weights)	Calculate the predictive constraint violation for the CALF.
__init__(*args, **kwargs)	param safe_controller object of class SafeController that provides a safe action if the current action would violate the safe set.
accept_or_reject_weights(weights[, …])	Determines whether the given weights should be accepted or rejected based on the specified constraints.
cache_weights([weights])	Cache the current weights of the model of the actor.
create_observation_constraints(…)	Method to create observation (or state) related constraints using a predictor over a prediction_horizon.
objective(action, observation)	Computes the anticipated decay of the CLF.
optimize_weights([constraint_functions, time])	Method to optimize the current actor weights.
receive_observation(observation)	Update the current observation of the actor.
reset()	Reset the actor to its initial state.
restore_weights()	Restore the previously cached weights of the model of the actor.
set_action(action)	Set the current action of the actor.
update_action([observation])	Update the current action of the actor.
update_and_cache_weights([weights])	Update and cache the weights of the model of the actor.
update_weights([weights])	Update the weights of the model of the actor.