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Dominik Moritz Roth 2024-04-03 18:01:50 +02:00
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# Prior Conditioned Annealing
Because Movement Primitives are ugly and regular Step-Based is incompetent at exploration.
This Repo implements [Prior Conditioned Annealing](https://cloud.dominik-roth.eu/index.php/s/7bf87f3LkPDzo8a) as a SB3 compatible Noise. As underlying noises we support `WHITE`, `PINK`, arbitrary colored noises `COLOR_<beta>` and a range of Perlin based Noises such as `PERLIN_<speed>`, `DIRTYPERLIN_<speed>_<dirty_ratio>` and `HARMONICPERLIN_<speed>_<octaves>`
[Theory outlined here](https://cloud.dominik-roth.eu/index.php/s/7bf87f3LkPDzo8a)
The implemented underlying noises can be used independent of PCA by supplying `skip_conditioning=True` to the PCA_Distribution. This will result in sampling just from the selected underlying distribution.