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Some typo in the paper #26

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Nephritebin opened this issue Oct 13, 2022 · 0 comments

Nephritebin commented Oct 13, 2022 •

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By checking the source code of the badgr, I found the MPPI planner generates the actions using:

action_h = self._beta * (shifted_mean[h, :] + eps[:, h, :]) + (1. - self._beta) * actions[-1]

So I think there is a typo in the paper Eqn. 3, which is

I guess it may be

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