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<!doctype html>
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<html lang="en" class="no-js">
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<head>
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<meta charset="utf-8">
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<meta name="viewport" content="width=device-width,initial-scale=1">
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<link rel="icon" href="/assets/images/favicon.png">
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<meta name="generator" content="mkdocs-1.6.1, mkdocs-material-9.7.6">
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<title>Brittle Star Project</title>
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|
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<link rel="stylesheet" href="/assets/stylesheets/main.484c7ddc.min.css">
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<link rel="preconnect" href="https://fonts.gstatic.com" crossorigin>
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<link rel="stylesheet" href="https://fonts.googleapis.com/css?family=Roboto:300,300i,400,400i,700,700i%7CRoboto+Mono:400,400i,700,700i&display=fallback">
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<style>:root{--md-text-font:"Roboto";--md-code-font:"Roboto Mono"}</style>
|
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|
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<script>__md_scope=new URL("/",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
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</head>
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|
||||
|
||||
<body dir="ltr">
|
||||
|
||||
|
||||
<input class="md-toggle" data-md-toggle="drawer" type="checkbox" id="__drawer" autocomplete="off">
|
||||
<input class="md-toggle" data-md-toggle="search" type="checkbox" id="__search" autocomplete="off">
|
||||
<label class="md-overlay" for="__drawer"></label>
|
||||
<div data-md-component="skip">
|
||||
|
||||
</div>
|
||||
<div data-md-component="announce">
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||||
|
||||
</div>
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||||
|
||||
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|
||||
|
||||
|
||||
|
||||
<header class="md-header md-header--shadow" data-md-component="header">
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||||
<nav class="md-header__inner md-grid" aria-label="Header">
|
||||
<a href="/." title="Brittle Star Project" class="md-header__button md-logo" aria-label="Brittle Star Project" data-md-component="logo">
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||||
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||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 8a3 3 0 0 0 3-3 3 3 0 0 0-3-3 3 3 0 0 0-3 3 3 3 0 0 0 3 3m0 3.54C9.64 9.35 6.5 8 3 8v11c3.5 0 6.64 1.35 9 3.54 2.36-2.19 5.5-3.54 9-3.54V8c-3.5 0-6.64 1.35-9 3.54"/></svg>
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|
||||
</a>
|
||||
<label class="md-header__button md-icon" for="__drawer">
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|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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||||
</label>
|
||||
<div class="md-header__title" data-md-component="header-title">
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||||
<div class="md-header__ellipsis">
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||||
<div class="md-header__topic">
|
||||
<span class="md-ellipsis">
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||||
Brittle Star Project
|
||||
</span>
|
||||
</div>
|
||||
<div class="md-header__topic" data-md-component="header-topic">
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||||
<span class="md-ellipsis">
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||||
|
||||
|
||||
|
||||
</span>
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||||
</div>
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||||
</div>
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||||
</div>
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||||
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||||
<script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
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|
||||
|
||||
|
||||
|
||||
|
||||
<label class="md-header__button md-icon" for="__search">
|
||||
|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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||||
</label>
|
||||
<div class="md-search" data-md-component="search" role="dialog">
|
||||
<label class="md-search__overlay" for="__search"></label>
|
||||
<div class="md-search__inner" role="search">
|
||||
<form class="md-search__form" name="search">
|
||||
<input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
|
||||
<label class="md-search__icon md-icon" for="__search">
|
||||
|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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</label>
|
||||
<nav class="md-search__options" aria-label="Search">
|
||||
|
||||
<button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
|
||||
|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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</button>
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</nav>
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||||
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||||
</form>
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||||
<div class="md-search__output">
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||||
<div class="md-search__scrollwrap" tabindex="0" data-md-scrollfix>
|
||||
<div class="md-search-result" data-md-component="search-result">
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||||
<div class="md-search-result__meta">
|
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Initializing search
|
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</div>
|
||||
<ol class="md-search-result__list" role="presentation"></ol>
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||||
</div>
|
||||
</div>
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</div>
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</div>
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</div>
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</nav>
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</header>
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<div class="md-container" data-md-component="container">
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||||
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||||
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||||
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||||
<main class="md-main" data-md-component="main">
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||||
<div class="md-main__inner md-grid">
|
||||
|
||||
|
||||
|
||||
<div class="md-sidebar md-sidebar--primary" data-md-component="sidebar" data-md-type="navigation" >
|
||||
<div class="md-sidebar__scrollwrap">
|
||||
<div class="md-sidebar__inner">
|
||||
|
||||
|
||||
|
||||
|
||||
<nav class="md-nav md-nav--primary" aria-label="Navigation" data-md-level="0">
|
||||
<label class="md-nav__title" for="__drawer">
|
||||
<a href="/." title="Brittle Star Project" class="md-nav__button md-logo" aria-label="Brittle Star Project" data-md-component="logo">
|
||||
|
||||
|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 8a3 3 0 0 0 3-3 3 3 0 0 0-3-3 3 3 0 0 0-3 3 3 3 0 0 0 3 3m0 3.54C9.64 9.35 6.5 8 3 8v11c3.5 0 6.64 1.35 9 3.54 2.36-2.19 5.5-3.54 9-3.54V8c-3.5 0-6.64 1.35-9 3.54"/></svg>
|
||||
|
||||
</a>
|
||||
Brittle Star Project
|
||||
</label>
|
||||
|
||||
<ul class="md-nav__list" data-md-scrollfix>
|
||||
|
||||
|
||||
|
||||
|
||||
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||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="/." class="md-nav__link">
|
||||
|
||||
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||||
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||||
<span class="md-ellipsis">
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||||
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||||
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||||
Documentation
|
||||
|
||||
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||||
|
||||
</span>
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||||
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||||
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||||
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||||
</a>
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</li>
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
<li class="md-nav__item">
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||||
<a href="/CONTRIBUTING/" class="md-nav__link">
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||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Contribution Guidelines
|
||||
|
||||
|
||||
|
||||
</span>
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||||
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||||
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||||
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||||
</a>
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||||
</li>
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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<li class="md-nav__item">
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||||
<a href="/DEVELOPMENT/" class="md-nav__link">
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||||
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||||
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||||
<span class="md-ellipsis">
|
||||
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||||
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Development Guide
|
||||
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||||
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||||
|
||||
</span>
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||||
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||||
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||||
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||||
</a>
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||||
</li>
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||||
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||||
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||||
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||||
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||||
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<li class="md-nav__item">
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<a href="/HPC/" class="md-nav__link">
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||||
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||||
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||||
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||||
<span class="md-ellipsis">
|
||||
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||||
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||||
HPC Guide
|
||||
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||||
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||||
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||||
</span>
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||||
|
||||
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||||
|
||||
</a>
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||||
</li>
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
<li class="md-nav__item md-nav__item--nested">
|
||||
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||||
|
||||
|
||||
<input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_5" >
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||||
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||||
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||||
<label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
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||||
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||||
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||||
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||||
<span class="md-ellipsis">
|
||||
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||||
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Api
|
||||
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||||
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||||
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||||
</span>
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||||
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||||
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||||
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<span class="md-nav__icon md-icon"></span>
|
||||
</label>
|
||||
|
||||
<nav class="md-nav" data-md-level="1" aria-labelledby="__nav_5_label" aria-expanded="false">
|
||||
<label class="md-nav__title" for="__nav_5">
|
||||
<span class="md-nav__icon md-icon"></span>
|
||||
|
||||
|
||||
Api
|
||||
|
||||
|
||||
</label>
|
||||
<ul class="md-nav__list" data-md-scrollfix>
|
||||
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||||
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||||
|
||||
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||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="/api/analysis/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Analysis & Plotting Tools
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
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||||
</li>
|
||||
|
||||
|
||||
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||||
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||||
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||||
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||||
|
||||
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||||
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||||
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||||
<li class="md-nav__item">
|
||||
<a href="/api/environment/" class="md-nav__link">
|
||||
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||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Brittle star environment
|
||||
|
||||
|
||||
|
||||
</span>
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||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
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||||
|
||||
|
||||
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||||
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||||
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||||
|
||||
|
||||
|
||||
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||||
|
||||
<li class="md-nav__item">
|
||||
<a href="/api/evaluation/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Checkpoint & Model Evaluation
|
||||
|
||||
|
||||
|
||||
</span>
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||||
|
||||
|
||||
|
||||
</a>
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||||
</li>
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||||
|
||||
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
<li class="md-nav__item">
|
||||
<a href="/api/simulation/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
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||||
|
||||
Simulation & Evaluation
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="/api/tracking/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Tracking & Monitoring
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="/api/training/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Training Models
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
</ul>
|
||||
</nav>
|
||||
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item md-nav__item--nested">
|
||||
|
||||
|
||||
|
||||
<input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_6" >
|
||||
|
||||
|
||||
<label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Design
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
<span class="md-nav__icon md-icon"></span>
|
||||
</label>
|
||||
|
||||
<nav class="md-nav" data-md-level="1" aria-labelledby="__nav_6_label" aria-expanded="false">
|
||||
<label class="md-nav__title" for="__nav_6">
|
||||
<span class="md-nav__icon md-icon"></span>
|
||||
|
||||
|
||||
Design
|
||||
|
||||
|
||||
</label>
|
||||
<ul class="md-nav__list" data-md-scrollfix>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="/design/actor-critic/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Actor-Critic Architecture
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="/design/communication/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Communication scheme (Message Passing)
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
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|
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|
||||
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||||
|
||||
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|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
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|
||||
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|
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|
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|
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Reinforcement Learning Algorithm
|
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|
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Reward function and observation space
|
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|
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||||
|
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|
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1041
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Load diff
1190
DEVELOPMENT/index.html
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1190
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1151
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1253
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Normal file
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Load diff
978
api/environment/index.html
Normal file
978
api/environment/index.html
Normal file
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<script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
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</head>
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<body dir="ltr">
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<input class="md-toggle" data-md-toggle="search" type="checkbox" id="__search" autocomplete="off">
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Skip to content
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<header class="md-header md-header--shadow" data-md-component="header">
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<a href="../.." title="Brittle Star Project" class="md-header__button md-logo" aria-label="Brittle Star Project" data-md-component="logo">
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<div class="md-header__title" data-md-component="header-title">
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<div class="md-header__ellipsis">
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<div class="md-header__topic">
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<span class="md-ellipsis">
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Brittle Star Project
|
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</span>
|
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</div>
|
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<div class="md-header__topic" data-md-component="header-topic">
|
||||
<span class="md-ellipsis">
|
||||
|
||||
Brittle star environment
|
||||
|
||||
</span>
|
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</div>
|
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</div>
|
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</div>
|
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<script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
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<label class="md-header__button md-icon" for="__search">
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<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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<div class="md-search__inner" role="search">
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<form class="md-search__form" name="search">
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<input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
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<label class="md-search__icon md-icon" for="__search">
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<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
|
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</label>
|
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<nav class="md-search__options" aria-label="Search">
|
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<button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
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<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
|
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</button>
|
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</nav>
|
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</form>
|
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<div class="md-search__output">
|
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<div class="md-search__scrollwrap" tabindex="0" data-md-scrollfix>
|
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<div class="md-search-result" data-md-component="search-result">
|
||||
<div class="md-search-result__meta">
|
||||
Initializing search
|
||||
</div>
|
||||
<ol class="md-search-result__list" role="presentation"></ol>
|
||||
</div>
|
||||
</div>
|
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</div>
|
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|
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</div>
|
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</nav>
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</header>
|
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<main class="md-main" data-md-component="main">
|
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<div class="md-main__inner md-grid">
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<div class="md-sidebar__scrollwrap">
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<div class="md-sidebar__inner">
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<nav class="md-nav md-nav--primary" aria-label="Navigation" data-md-level="0">
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<label class="md-nav__title" for="__drawer">
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<a href="../.." title="Brittle Star Project" class="md-nav__button md-logo" aria-label="Brittle Star Project" data-md-component="logo">
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|
||||
|
||||
</a>
|
||||
Brittle Star Project
|
||||
</label>
|
||||
|
||||
<ul class="md-nav__list" data-md-scrollfix>
|
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|
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<li class="md-nav__item">
|
||||
<a href="../.." class="md-nav__link">
|
||||
|
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|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Documentation
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
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<li class="md-nav__item">
|
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<a href="../../CONTRIBUTING/" class="md-nav__link">
|
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||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Contribution Guidelines
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
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|
||||
|
||||
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<li class="md-nav__item">
|
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<a href="../../DEVELOPMENT/" class="md-nav__link">
|
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<span class="md-ellipsis">
|
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|
||||
|
||||
Development Guide
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="../../HPC/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
HPC Guide
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
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|
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|
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|
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|
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|
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|
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<li class="md-nav__item md-nav__item--active md-nav__item--nested">
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<input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_5" checked>
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<label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Api
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
<span class="md-nav__icon md-icon"></span>
|
||||
</label>
|
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|
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<nav class="md-nav" data-md-level="1" aria-labelledby="__nav_5_label" aria-expanded="true">
|
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<label class="md-nav__title" for="__nav_5">
|
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<span class="md-nav__icon md-icon"></span>
|
||||
|
||||
|
||||
Api
|
||||
|
||||
|
||||
</label>
|
||||
<ul class="md-nav__list" data-md-scrollfix>
|
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|
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|
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|
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|
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|
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|
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|
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<li class="md-nav__item">
|
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<a href="../analysis/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Analysis & Plotting Tools
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
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Brittle star environment
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Brittle star environment
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Checkpoint & Model Evaluation
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Simulation & Evaluation
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Tracking & Monitoring
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Training Models
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Actor-Critic Architecture
|
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Communication scheme (Message Passing)
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||||
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Levels of modularity and topology
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||||
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||||
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||||
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|
||||
|
||||
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||||
|
||||
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||||
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Input (state) and output (action) spaces
|
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|
||||
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||||
|
||||
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||||
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Reinforcement Learning Algorithm
|
||||
|
||||
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||||
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||||
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|
||||
|
||||
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||||
|
||||
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||||
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||||
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||||
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||||
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Reward function and observation space
|
||||
|
||||
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||||
|
||||
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|
||||
|
||||
|
||||
|
||||
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Creation
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Backend and Task enums
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<div class="md-content" data-md-component="content">
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<article class="md-content__inner md-typeset">
|
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||||
|
||||
|
||||
|
||||
|
||||
<h1 id="brittle-star-environment">Brittle star environment</h1>
|
||||
<h2 id="creation">Creation</h2>
|
||||
<p>The environment package contains a factory class <code>BrittleStarEnvFactory</code>
|
||||
that creates instances of the environment/morphologies/... It uses the
|
||||
configuration classes defined in <code>env_config.py</code> to create the instances.</p>
|
||||
<h2 id="configuration">Configuration</h2>
|
||||
<p>The data classes in <code>env_config</code> have default values as stated in the tutorials.
|
||||
* MorphologyConfig: configuration for the morphology of the brittle star. Contains
|
||||
number of arms, number of segments per arm, and control mode.
|
||||
* ArenaConfig: configuration for the arena. Sets the size of the arena, whether to
|
||||
set the ground floor to sand, attach a target and sizes of the walls.
|
||||
* EnvConfig: configuration for the environment. These set shared settings
|
||||
such as camera locations, simulation time and the task.</p>
|
||||
<h2 id="backend-and-task-enums">Backend and Task enums</h2>
|
||||
<p>The Backend enum specifies either an MJC or MJX backend.
|
||||
* MJC: runs on CPU
|
||||
* MJX: uses jax on the gpu</p>
|
||||
<p>The Task enum specifies which task to use. 2 items are present:
|
||||
* DIRECTED_LOCOMOTION: move to a target location
|
||||
* LIGHT_ESCAPE: situation where the robot must move to a darker location</p>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
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||||
|
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</article>
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<script id="__config" type="application/json">{"annotate": null, "base": "../..", "features": [], "search": "../../assets/javascripts/workers/search.2c215733.min.js", "tags": null, "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": null}</script>
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@ -0,0 +1,18 @@
|
|||
/*!
|
||||
* Lunr languages, `Danish` language
|
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* https://github.com/MihaiValentin/lunr-languages
|
||||
*
|
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* Copyright 2014, Mihai Valentin
|
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* http://www.mozilla.org/MPL/
|
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*/
|
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/*!
|
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* based on
|
||||
* Snowball JavaScript Library v0.3
|
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* http://code.google.com/p/urim/
|
||||
* http://snowball.tartarus.org/
|
||||
*
|
||||
* Copyright 2010, Oleg Mazko
|
||||
* http://www.mozilla.org/MPL/
|
||||
*/
|
||||
|
||||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.da=function(){this.pipeline.reset(),this.pipeline.add(e.da.trimmer,e.da.stopWordFilter,e.da.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.da.stemmer))},e.da.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",e.da.trimmer=e.trimmerSupport.generateTrimmer(e.da.wordCharacters),e.Pipeline.registerFunction(e.da.trimmer,"trimmer-da"),e.da.stemmer=function(){var r=e.stemmerSupport.Among,i=e.stemmerSupport.SnowballProgram,n=new function(){function e(){var e,r=f.cursor+3;if(d=f.limit,0<=r&&r<=f.limit){for(a=r;;){if(e=f.cursor,f.in_grouping(w,97,248)){f.cursor=e;break}if(f.cursor=e,e>=f.limit)return;f.cursor++}for(;!f.out_grouping(w,97,248);){if(f.cursor>=f.limit)return;f.cursor++}d=f.cursor,d<a&&(d=a)}}function n(){var e,r;if(f.cursor>=d&&(r=f.limit_backward,f.limit_backward=d,f.ket=f.cursor,e=f.find_among_b(c,32),f.limit_backward=r,e))switch(f.bra=f.cursor,e){case 1:f.slice_del();break;case 2:f.in_grouping_b(p,97,229)&&f.slice_del()}}function t(){var e,r=f.limit-f.cursor;f.cursor>=d&&(e=f.limit_backward,f.limit_backward=d,f.ket=f.cursor,f.find_among_b(l,4)?(f.bra=f.cursor,f.limit_backward=e,f.cursor=f.limit-r,f.cursor>f.limit_backward&&(f.cursor--,f.bra=f.cursor,f.slice_del())):f.limit_backward=e)}function s(){var e,r,i,n=f.limit-f.cursor;if(f.ket=f.cursor,f.eq_s_b(2,"st")&&(f.bra=f.cursor,f.eq_s_b(2,"ig")&&f.slice_del()),f.cursor=f.limit-n,f.cursor>=d&&(r=f.limit_backward,f.limit_backward=d,f.ket=f.cursor,e=f.find_among_b(m,5),f.limit_backward=r,e))switch(f.bra=f.cursor,e){case 1:f.slice_del(),i=f.limit-f.cursor,t(),f.cursor=f.limit-i;break;case 2:f.slice_from("løs")}}function o(){var e;f.cursor>=d&&(e=f.limit_backward,f.limit_backward=d,f.ket=f.cursor,f.out_grouping_b(w,97,248)?(f.bra=f.cursor,u=f.slice_to(u),f.limit_backward=e,f.eq_v_b(u)&&f.slice_del()):f.limit_backward=e)}var a,d,u,c=[new r("hed",-1,1),new r("ethed",0,1),new r("ered",-1,1),new r("e",-1,1),new r("erede",3,1),new r("ende",3,1),new r("erende",5,1),new r("ene",3,1),new r("erne",3,1),new r("ere",3,1),new r("en",-1,1),new r("heden",10,1),new r("eren",10,1),new r("er",-1,1),new r("heder",13,1),new r("erer",13,1),new r("s",-1,2),new r("heds",16,1),new r("es",16,1),new r("endes",18,1),new r("erendes",19,1),new r("enes",18,1),new r("ernes",18,1),new r("eres",18,1),new r("ens",16,1),new r("hedens",24,1),new r("erens",24,1),new r("ers",16,1),new r("ets",16,1),new r("erets",28,1),new r("et",-1,1),new r("eret",30,1)],l=[new r("gd",-1,-1),new r("dt",-1,-1),new r("gt",-1,-1),new r("kt",-1,-1)],m=[new r("ig",-1,1),new r("lig",0,1),new r("elig",1,1),new r("els",-1,1),new r("løst",-1,2)],w=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,48,0,128],p=[239,254,42,3,0,0,0,0,0,0,0,0,0,0,0,0,16],f=new i;this.setCurrent=function(e){f.setCurrent(e)},this.getCurrent=function(){return f.getCurrent()},this.stem=function(){var r=f.cursor;return e(),f.limit_backward=r,f.cursor=f.limit,n(),f.cursor=f.limit,t(),f.cursor=f.limit,s(),f.cursor=f.limit,o(),!0}};return function(e){return"function"==typeof e.update?e.update(function(e){return n.setCurrent(e),n.stem(),n.getCurrent()}):(n.setCurrent(e),n.stem(),n.getCurrent())}}(),e.Pipeline.registerFunction(e.da.stemmer,"stemmer-da"),e.da.stopWordFilter=e.generateStopWordFilter("ad af alle alt anden at blev blive bliver da de dem den denne der deres det dette dig din disse dog du efter eller en end er et for fra ham han hans har havde have hende hendes her hos hun hvad hvis hvor i ikke ind jeg jer jo kunne man mange med meget men mig min mine mit mod ned noget nogle nu når og også om op os over på selv sig sin sine sit skal skulle som sådan thi til ud under var vi vil ville vor være været".split(" ")),e.Pipeline.registerFunction(e.da.stopWordFilter,"stopWordFilter-da")}});
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assets/javascripts/lunr/min/lunr.de.min.js
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assets/javascripts/lunr/min/lunr.de.min.js
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assets/javascripts/lunr/min/lunr.du.min.js
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assets/javascripts/lunr/min/lunr.du.min.js
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assets/javascripts/lunr/min/lunr.el.min.js
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assets/javascripts/lunr/min/lunr.el.min.js
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assets/javascripts/lunr/min/lunr.es.min.js
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assets/javascripts/lunr/min/lunr.es.min.js
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assets/javascripts/lunr/min/lunr.fi.min.js
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assets/javascripts/lunr/min/lunr.fi.min.js
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assets/javascripts/lunr/min/lunr.fr.min.js
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assets/javascripts/lunr/min/lunr.fr.min.js
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assets/javascripts/lunr/min/lunr.he.min.js
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assets/javascripts/lunr/min/lunr.he.min.js
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assets/javascripts/lunr/min/lunr.hi.min.js
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assets/javascripts/lunr/min/lunr.hi.min.js
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!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.hi=function(){this.pipeline.reset(),this.pipeline.add(e.hi.trimmer,e.hi.stopWordFilter,e.hi.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.hi.stemmer))},e.hi.wordCharacters="ऀ-ःऄ-एऐ-टठ-यर-िी-ॏॐ-य़ॠ-९॰-ॿa-zA-Zａ-ｚＡ-Ｚ0-9０-９",e.hi.trimmer=e.trimmerSupport.generateTrimmer(e.hi.wordCharacters),e.Pipeline.registerFunction(e.hi.trimmer,"trimmer-hi"),e.hi.stopWordFilter=e.generateStopWordFilter("अत अपना अपनी अपने अभी अंदर आदि आप इत्यादि इन इनका इन्हीं इन्हें इन्हों इस इसका इसकी इसके इसमें इसी इसे उन उनका उनकी उनके उनको उन्हीं उन्हें उन्हों उस उसके उसी उसे एक एवं एस ऐसे और कई कर करता करते करना करने करें कहते कहा का काफ़ी कि कितना किन्हें किन्हों किया किर किस किसी किसे की कुछ कुल के को कोई कौन कौनसा गया घर जब जहाँ जा जितना जिन जिन्हें जिन्हों जिस जिसे जीधर जैसा जैसे जो तक तब तरह तिन तिन्हें तिन्हों तिस तिसे तो था थी थे दबारा दिया दुसरा दूसरे दो द्वारा न नके नहीं ना निहायत नीचे ने पर पहले पूरा पे फिर बनी बही बहुत बाद बाला बिलकुल भी भीतर मगर मानो मे में यदि यह यहाँ यही या यिह ये रखें रहा रहे ऱ्वासा लिए लिये लेकिन व वग़ैरह वर्ग वह वहाँ वहीं वाले वुह वे वो सकता सकते सबसे सभी साथ साबुत साभ सारा से सो संग ही हुआ हुई हुए है हैं हो होता होती होते होना होने".split(" ")),e.hi.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var r=e.wordcut;r.init(),e.hi.tokenizer=function(i){if(!arguments.length||null==i||void 0==i)return[];if(Array.isArray(i))return i.map(function(r){return isLunr2?new e.Token(r.toLowerCase()):r.toLowerCase()});var t=i.toString().toLowerCase().replace(/^\s+/,"");return r.cut(t).split("|")},e.Pipeline.registerFunction(e.hi.stemmer,"stemmer-hi"),e.Pipeline.registerFunction(e.hi.stopWordFilter,"stopWordFilter-hi")}});
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assets/javascripts/lunr/min/lunr.hu.min.js
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assets/javascripts/lunr/min/lunr.hu.min.js
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assets/javascripts/lunr/min/lunr.hy.min.js
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assets/javascripts/lunr/min/lunr.hy.min.js
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!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.hy=function(){this.pipeline.reset(),this.pipeline.add(e.hy.trimmer,e.hy.stopWordFilter)},e.hy.wordCharacters="[A-Za-z-֏ff-ﭏ]",e.hy.trimmer=e.trimmerSupport.generateTrimmer(e.hy.wordCharacters),e.Pipeline.registerFunction(e.hy.trimmer,"trimmer-hy"),e.hy.stopWordFilter=e.generateStopWordFilter("դու և եք էիր էիք հետո նաև նրանք որը վրա է որ պիտի են այս մեջ ն իր ու ի այդ որոնք այն կամ էր մի ես համար այլ իսկ էին ենք հետ ին թ էինք մենք նրա նա դուք եմ էի ըստ որպես ում".split(" ")),e.Pipeline.registerFunction(e.hy.stopWordFilter,"stopWordFilter-hy"),e.hy.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}(),e.Pipeline.registerFunction(e.hy.stemmer,"stemmer-hy")}});
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||||
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assets/javascripts/lunr/min/lunr.it.min.js
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assets/javascripts/lunr/min/lunr.it.min.js
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assets/javascripts/lunr/min/lunr.ja.min.js
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assets/javascripts/lunr/min/lunr.ja.min.js
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|||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");var r="2"==e.version[0];e.ja=function(){this.pipeline.reset(),this.pipeline.add(e.ja.trimmer,e.ja.stopWordFilter,e.ja.stemmer),r?this.tokenizer=e.ja.tokenizer:(e.tokenizer&&(e.tokenizer=e.ja.tokenizer),this.tokenizerFn&&(this.tokenizerFn=e.ja.tokenizer))};var t=new e.TinySegmenter;e.ja.tokenizer=function(i){var n,o,s,p,a,u,m,l,c,f;if(!arguments.length||null==i||void 0==i)return[];if(Array.isArray(i))return i.map(function(t){return r?new e.Token(t.toLowerCase()):t.toLowerCase()});for(o=i.toString().toLowerCase().replace(/^\s+/,""),n=o.length-1;n>=0;n--)if(/\S/.test(o.charAt(n))){o=o.substring(0,n+1);break}for(a=[],s=o.length,c=0,l=0;c<=s;c++)if(u=o.charAt(c),m=c-l,u.match(/\s/)||c==s){if(m>0)for(p=t.segment(o.slice(l,c)).filter(function(e){return!!e}),f=l,n=0;n<p.length;n++)r?a.push(new e.Token(p[n],{position:[f,p[n].length],index:a.length})):a.push(p[n]),f+=p[n].length;l=c+1}return a},e.ja.stemmer=function(){return function(e){return e}}(),e.Pipeline.registerFunction(e.ja.stemmer,"stemmer-ja"),e.ja.wordCharacters="一二三四五六七八九十百千万億兆一-龠々〆ヵヶぁ-んァ-ヴーｱ-ﾝﾞa-zA-Zａ-ｚＡ-Ｚ0-9０-９",e.ja.trimmer=e.trimmerSupport.generateTrimmer(e.ja.wordCharacters),e.Pipeline.registerFunction(e.ja.trimmer,"trimmer-ja"),e.ja.stopWordFilter=e.generateStopWordFilter("これ それ あれ この その あの ここ そこ あそこ こちら どこ だれ なに なん 何 私 貴方 貴方方 我々 私達 あの人 あのかた 彼女 彼 です あります おります います は が の に を で え から まで より も どの と し それで しかし".split(" ")),e.Pipeline.registerFunction(e.ja.stopWordFilter,"stopWordFilter-ja"),e.jp=e.ja,e.Pipeline.registerFunction(e.jp.stemmer,"stemmer-jp"),e.Pipeline.registerFunction(e.jp.trimmer,"trimmer-jp"),e.Pipeline.registerFunction(e.jp.stopWordFilter,"stopWordFilter-jp")}});
|
||||
1
assets/javascripts/lunr/min/lunr.jp.min.js
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assets/javascripts/lunr/min/lunr.jp.min.js
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|
|||
module.exports=require("./lunr.ja");
|
||||
1
assets/javascripts/lunr/min/lunr.kn.min.js
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assets/javascripts/lunr/min/lunr.kn.min.js
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|||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.kn=function(){this.pipeline.reset(),this.pipeline.add(e.kn.trimmer,e.kn.stopWordFilter,e.kn.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.kn.stemmer))},e.kn.wordCharacters="ಀ-಄ಅ-ಔಕ-ಹಾ-ೌ಼-ಽೕ-ೖೝ-ೞೠ-ೡೢ-ೣ೦-೯ೱ-ೳ",e.kn.trimmer=e.trimmerSupport.generateTrimmer(e.kn.wordCharacters),e.Pipeline.registerFunction(e.kn.trimmer,"trimmer-kn"),e.kn.stopWordFilter=e.generateStopWordFilter("ಮತ್ತು ಈ ಒಂದು ರಲ್ಲಿ ಹಾಗೂ ಎಂದು ಅಥವಾ ಇದು ರ ಅವರು ಎಂಬ ಮೇಲೆ ಅವರ ತನ್ನ ಆದರೆ ತಮ್ಮ ನಂತರ ಮೂಲಕ ಹೆಚ್ಚು ನ ಆ ಕೆಲವು ಅನೇಕ ಎರಡು ಹಾಗು ಪ್ರಮುಖ ಇದನ್ನು ಇದರ ಸುಮಾರು ಅದರ ಅದು ಮೊದಲ ಬಗ್ಗೆ ನಲ್ಲಿ ರಂದು ಇತರ ಅತ್ಯಂತ ಹೆಚ್ಚಿನ ಸಹ ಸಾಮಾನ್ಯವಾಗಿ ನೇ ಹಲವಾರು ಹೊಸ ದಿ ಕಡಿಮೆ ಯಾವುದೇ ಹೊಂದಿದೆ ದೊಡ್ಡ ಅನ್ನು ಇವರು ಪ್ರಕಾರ ಇದೆ ಮಾತ್ರ ಕೂಡ ಇಲ್ಲಿ ಎಲ್ಲಾ ವಿವಿಧ ಅದನ್ನು ಹಲವು ರಿಂದ ಕೇವಲ ದ ದಕ್ಷಿಣ ಗೆ ಅವನ ಅತಿ ನೆಯ ಬಹಳ ಕೆಲಸ ಎಲ್ಲ ಪ್ರತಿ ಇತ್ಯಾದಿ ಇವು ಬೇರೆ ಹೀಗೆ ನಡುವೆ ಇದಕ್ಕೆ ಎಸ್ ಇವರ ಮೊದಲು ಶ್ರೀ ಮಾಡುವ ಇದರಲ್ಲಿ ರೀತಿಯ ಮಾಡಿದ ಕಾಲ ಅಲ್ಲಿ ಮಾಡಲು ಅದೇ ಈಗ ಅವು ಗಳು ಎ ಎಂಬುದು ಅವನು ಅಂದರೆ ಅವರಿಗೆ ಇರುವ ವಿಶೇಷ ಮುಂದೆ ಅವುಗಳ ಮುಂತಾದ ಮೂಲ ಬಿ ಮೀ ಒಂದೇ ಇನ್ನೂ ಹೆಚ್ಚಾಗಿ ಮಾಡಿ ಅವರನ್ನು ಇದೇ ಯ ರೀತಿಯಲ್ಲಿ ಜೊತೆ ಅದರಲ್ಲಿ ಮಾಡಿದರು ನಡೆದ ಆಗ ಮತ್ತೆ ಪೂರ್ವ ಆತ ಬಂದ ಯಾವ ಒಟ್ಟು ಇತರೆ ಹಿಂದೆ ಪ್ರಮಾಣದ ಗಳನ್ನು ಕುರಿತು ಯು ಆದ್ದರಿಂದ ಅಲ್ಲದೆ ನಗರದ ಮೇಲಿನ ಏಕೆಂದರೆ ರಷ್ಟು ಎಂಬುದನ್ನು ಬಾರಿ ಎಂದರೆ ಹಿಂದಿನ ಆದರೂ ಆದ ಸಂಬಂಧಿಸಿದ ಮತ್ತೊಂದು ಸಿ ಆತನ ".split(" ")),e.kn.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var r=e.wordcut;r.init(),e.kn.tokenizer=function(t){if(!arguments.length||null==t||void 0==t)return[];if(Array.isArray(t))return t.map(function(r){return isLunr2?new e.Token(r.toLowerCase()):r.toLowerCase()});var n=t.toString().toLowerCase().replace(/^\s+/,"");return r.cut(n).split("|")},e.Pipeline.registerFunction(e.kn.stemmer,"stemmer-kn"),e.Pipeline.registerFunction(e.kn.stopWordFilter,"stopWordFilter-kn")}});
|
||||
1
assets/javascripts/lunr/min/lunr.ko.min.js
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assets/javascripts/lunr/min/lunr.ko.min.js
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assets/javascripts/lunr/min/lunr.multi.min.js
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assets/javascripts/lunr/min/lunr.multi.min.js
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|
|||
!function(e,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(e.lunr)}(this,function(){return function(e){e.multiLanguage=function(){for(var t=Array.prototype.slice.call(arguments),i=t.join("-"),r="",n=[],s=[],p=0;p<t.length;++p)"en"==t[p]?(r+="\\w",n.unshift(e.stopWordFilter),n.push(e.stemmer),s.push(e.stemmer)):(r+=e[t[p]].wordCharacters,e[t[p]].stopWordFilter&&n.unshift(e[t[p]].stopWordFilter),e[t[p]].stemmer&&(n.push(e[t[p]].stemmer),s.push(e[t[p]].stemmer)));var o=e.trimmerSupport.generateTrimmer(r);return e.Pipeline.registerFunction(o,"lunr-multi-trimmer-"+i),n.unshift(o),function(){this.pipeline.reset(),this.pipeline.add.apply(this.pipeline,n),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add.apply(this.searchPipeline,s))}}}});
|
||||
18
assets/javascripts/lunr/min/lunr.nl.min.js
vendored
Normal file
18
assets/javascripts/lunr/min/lunr.nl.min.js
vendored
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18
assets/javascripts/lunr/min/lunr.no.min.js
vendored
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18
assets/javascripts/lunr/min/lunr.no.min.js
vendored
Normal file
|
|
@ -0,0 +1,18 @@
|
|||
/*!
|
||||
* Lunr languages, `Norwegian` language
|
||||
* https://github.com/MihaiValentin/lunr-languages
|
||||
*
|
||||
* Copyright 2014, Mihai Valentin
|
||||
* http://www.mozilla.org/MPL/
|
||||
*/
|
||||
/*!
|
||||
* based on
|
||||
* Snowball JavaScript Library v0.3
|
||||
* http://code.google.com/p/urim/
|
||||
* http://snowball.tartarus.org/
|
||||
*
|
||||
* Copyright 2010, Oleg Mazko
|
||||
* http://www.mozilla.org/MPL/
|
||||
*/
|
||||
|
||||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.no=function(){this.pipeline.reset(),this.pipeline.add(e.no.trimmer,e.no.stopWordFilter,e.no.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.no.stemmer))},e.no.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",e.no.trimmer=e.trimmerSupport.generateTrimmer(e.no.wordCharacters),e.Pipeline.registerFunction(e.no.trimmer,"trimmer-no"),e.no.stemmer=function(){var r=e.stemmerSupport.Among,n=e.stemmerSupport.SnowballProgram,i=new function(){function e(){var e,r=w.cursor+3;if(a=w.limit,0<=r||r<=w.limit){for(s=r;;){if(e=w.cursor,w.in_grouping(d,97,248)){w.cursor=e;break}if(e>=w.limit)return;w.cursor=e+1}for(;!w.out_grouping(d,97,248);){if(w.cursor>=w.limit)return;w.cursor++}a=w.cursor,a<s&&(a=s)}}function i(){var e,r,n;if(w.cursor>=a&&(r=w.limit_backward,w.limit_backward=a,w.ket=w.cursor,e=w.find_among_b(m,29),w.limit_backward=r,e))switch(w.bra=w.cursor,e){case 1:w.slice_del();break;case 2:n=w.limit-w.cursor,w.in_grouping_b(c,98,122)?w.slice_del():(w.cursor=w.limit-n,w.eq_s_b(1,"k")&&w.out_grouping_b(d,97,248)&&w.slice_del());break;case 3:w.slice_from("er")}}function t(){var e,r=w.limit-w.cursor;w.cursor>=a&&(e=w.limit_backward,w.limit_backward=a,w.ket=w.cursor,w.find_among_b(u,2)?(w.bra=w.cursor,w.limit_backward=e,w.cursor=w.limit-r,w.cursor>w.limit_backward&&(w.cursor--,w.bra=w.cursor,w.slice_del())):w.limit_backward=e)}function o(){var e,r;w.cursor>=a&&(r=w.limit_backward,w.limit_backward=a,w.ket=w.cursor,e=w.find_among_b(l,11),e?(w.bra=w.cursor,w.limit_backward=r,1==e&&w.slice_del()):w.limit_backward=r)}var s,a,m=[new r("a",-1,1),new r("e",-1,1),new r("ede",1,1),new r("ande",1,1),new r("ende",1,1),new r("ane",1,1),new r("ene",1,1),new r("hetene",6,1),new r("erte",1,3),new r("en",-1,1),new r("heten",9,1),new r("ar",-1,1),new r("er",-1,1),new r("heter",12,1),new r("s",-1,2),new r("as",14,1),new r("es",14,1),new r("edes",16,1),new r("endes",16,1),new r("enes",16,1),new r("hetenes",19,1),new r("ens",14,1),new r("hetens",21,1),new r("ers",14,1),new r("ets",14,1),new r("et",-1,1),new r("het",25,1),new r("ert",-1,3),new r("ast",-1,1)],u=[new r("dt",-1,-1),new r("vt",-1,-1)],l=[new r("leg",-1,1),new r("eleg",0,1),new r("ig",-1,1),new r("eig",2,1),new r("lig",2,1),new r("elig",4,1),new r("els",-1,1),new r("lov",-1,1),new r("elov",7,1),new r("slov",7,1),new r("hetslov",9,1)],d=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,48,0,128],c=[119,125,149,1],w=new n;this.setCurrent=function(e){w.setCurrent(e)},this.getCurrent=function(){return w.getCurrent()},this.stem=function(){var r=w.cursor;return e(),w.limit_backward=r,w.cursor=w.limit,i(),w.cursor=w.limit,t(),w.cursor=w.limit,o(),!0}};return function(e){return"function"==typeof e.update?e.update(function(e){return i.setCurrent(e),i.stem(),i.getCurrent()}):(i.setCurrent(e),i.stem(),i.getCurrent())}}(),e.Pipeline.registerFunction(e.no.stemmer,"stemmer-no"),e.no.stopWordFilter=e.generateStopWordFilter("alle at av bare begge ble blei bli blir blitt både båe da de deg dei deim deira deires dem den denne der dere deres det dette di din disse ditt du dykk dykkar då eg ein eit eitt eller elles en enn er et ett etter for fordi fra før ha hadde han hans har hennar henne hennes her hjå ho hoe honom hoss hossen hun hva hvem hver hvilke hvilken hvis hvor hvordan hvorfor i ikke ikkje ikkje ingen ingi inkje inn inni ja jeg kan kom korleis korso kun kunne kva kvar kvarhelst kven kvi kvifor man mange me med medan meg meget mellom men mi min mine mitt mot mykje ned no noe noen noka noko nokon nokor nokre nå når og også om opp oss over på samme seg selv si si sia sidan siden sin sine sitt sjøl skal skulle slik so som som somme somt så sånn til um upp ut uten var vart varte ved vere verte vi vil ville vore vors vort vår være være vært å".split(" ")),e.Pipeline.registerFunction(e.no.stopWordFilter,"stopWordFilter-no")}});
|
||||
18
assets/javascripts/lunr/min/lunr.pt.min.js
vendored
Normal file
18
assets/javascripts/lunr/min/lunr.pt.min.js
vendored
Normal file
File diff suppressed because one or more lines are too long
18
assets/javascripts/lunr/min/lunr.ro.min.js
vendored
Normal file
18
assets/javascripts/lunr/min/lunr.ro.min.js
vendored
Normal file
File diff suppressed because one or more lines are too long
18
assets/javascripts/lunr/min/lunr.ru.min.js
vendored
Normal file
18
assets/javascripts/lunr/min/lunr.ru.min.js
vendored
Normal file
File diff suppressed because one or more lines are too long
1
assets/javascripts/lunr/min/lunr.sa.min.js
vendored
Normal file
1
assets/javascripts/lunr/min/lunr.sa.min.js
vendored
Normal file
|
|
@ -0,0 +1 @@
|
|||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.sa=function(){this.pipeline.reset(),this.pipeline.add(e.sa.trimmer,e.sa.stopWordFilter,e.sa.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.sa.stemmer))},e.sa.wordCharacters="ऀ-ःऄ-एऐ-टठ-यर-िी-ॏॐ-य़ॠ-९॰-ॿ꣠-꣱ꣲ-ꣷ꣸-ꣻ꣼-ꣽꣾ-ꣿᆰ0-ᆰ9",e.sa.trimmer=e.trimmerSupport.generateTrimmer(e.sa.wordCharacters),e.Pipeline.registerFunction(e.sa.trimmer,"trimmer-sa"),e.sa.stopWordFilter=e.generateStopWordFilter('तथा अयम् एकम् इत्यस्मिन् तथा तत् वा अयम् इत्यस्य ते आहूत उपरि तेषाम् किन्तु तेषाम् तदा इत्यनेन अधिकः इत्यस्य तत् केचन बहवः द्वि तथा महत्वपूर्णः अयम् अस्य विषये अयं अस्ति तत् प्रथमः विषये इत्युपरि इत्युपरि इतर अधिकतमः अधिकः अपि सामान्यतया ठ इतरेतर नूतनम् द न्यूनम् कश्चित् वा विशालः द सः अस्ति तदनुसारम् तत्र अस्ति केवलम् अपि अत्र सर्वे विविधाः तत् बहवः यतः इदानीम् द दक्षिण इत्यस्मै तस्य उपरि नथ अतीव कार्यम् सर्वे एकैकम् इत्यादि। एते सन्ति उत इत्थम् मध्ये एतदर्थं . स कस्य प्रथमः श्री. करोति अस्मिन् प्रकारः निर्मिता कालः तत्र कर्तुं समान अधुना ते सन्ति स एकः अस्ति सः अर्थात् तेषां कृते . स्थितम् विशेषः अग्रिम तेषाम् समान स्रोतः ख म समान इदानीमपि अधिकतया करोतु ते समान इत्यस्य वीथी सह यस्मिन् कृतवान् धृतः तदा पुनः पूर्वं सः आगतः किम् कुल इतर पुरा मात्रा स विषये उ अतएव अपि नगरस्य उपरि यतः प्रतिशतं कतरः कालः साधनानि भूत तथापि जात सम्बन्धि अन्यत् ग अतः अस्माकं स्वकीयाः अस्माकं इदानीं अन्तः इत्यादयः भवन्तः इत्यादयः एते एताः तस्य अस्य इदम् एते तेषां तेषां तेषां तान् तेषां तेषां तेषां समानः सः एकः च तादृशाः बहवः अन्ये च वदन्ति यत् कियत् कस्मै कस्मै यस्मै यस्मै यस्मै यस्मै न अतिनीचः किन्तु प्रथमं सम्पूर्णतया ततः चिरकालानन्तरं पुस्तकं सम्पूर्णतया अन्तः किन्तु अत्र वा इह इव श्रद्धाय अवशिष्यते परन्तु अन्ये वर्गाः सन्ति ते सन्ति शक्नुवन्ति सर्वे मिलित्वा सर्वे एकत्र"'.split(" ")),e.sa.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var r=e.wordcut;r.init(),e.sa.tokenizer=function(t){if(!arguments.length||null==t||void 0==t)return[];if(Array.isArray(t))return t.map(function(r){return isLunr2?new e.Token(r.toLowerCase()):r.toLowerCase()});var i=t.toString().toLowerCase().replace(/^\s+/,"");return r.cut(i).split("|")},e.Pipeline.registerFunction(e.sa.stemmer,"stemmer-sa"),e.Pipeline.registerFunction(e.sa.stopWordFilter,"stopWordFilter-sa")}});
|
||||
1
assets/javascripts/lunr/min/lunr.stemmer.support.min.js
vendored
Normal file
1
assets/javascripts/lunr/min/lunr.stemmer.support.min.js
vendored
Normal file
|
|
@ -0,0 +1 @@
|
|||
!function(r,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(r.lunr)}(this,function(){return function(r){r.stemmerSupport={Among:function(r,t,i,s){if(this.toCharArray=function(r){for(var t=r.length,i=new Array(t),s=0;s<t;s++)i[s]=r.charCodeAt(s);return i},!r&&""!=r||!t&&0!=t||!i)throw"Bad Among initialisation: s:"+r+", substring_i: "+t+", result: "+i;this.s_size=r.length,this.s=this.toCharArray(r),this.substring_i=t,this.result=i,this.method=s},SnowballProgram:function(){var r;return{bra:0,ket:0,limit:0,cursor:0,limit_backward:0,setCurrent:function(t){r=t,this.cursor=0,this.limit=t.length,this.limit_backward=0,this.bra=this.cursor,this.ket=this.limit},getCurrent:function(){var t=r;return r=null,t},in_grouping:function(t,i,s){if(this.cursor<this.limit){var e=r.charCodeAt(this.cursor);if(e<=s&&e>=i&&(e-=i,t[e>>3]&1<<(7&e)))return this.cursor++,!0}return!1},in_grouping_b:function(t,i,s){if(this.cursor>this.limit_backward){var e=r.charCodeAt(this.cursor-1);if(e<=s&&e>=i&&(e-=i,t[e>>3]&1<<(7&e)))return this.cursor--,!0}return!1},out_grouping:function(t,i,s){if(this.cursor<this.limit){var e=r.charCodeAt(this.cursor);if(e>s||e<i)return this.cursor++,!0;if(e-=i,!(t[e>>3]&1<<(7&e)))return this.cursor++,!0}return!1},out_grouping_b:function(t,i,s){if(this.cursor>this.limit_backward){var e=r.charCodeAt(this.cursor-1);if(e>s||e<i)return this.cursor--,!0;if(e-=i,!(t[e>>3]&1<<(7&e)))return this.cursor--,!0}return!1},eq_s:function(t,i){if(this.limit-this.cursor<t)return!1;for(var s=0;s<t;s++)if(r.charCodeAt(this.cursor+s)!=i.charCodeAt(s))return!1;return this.cursor+=t,!0},eq_s_b:function(t,i){if(this.cursor-this.limit_backward<t)return!1;for(var s=0;s<t;s++)if(r.charCodeAt(this.cursor-t+s)!=i.charCodeAt(s))return!1;return this.cursor-=t,!0},find_among:function(t,i){for(var s=0,e=i,n=this.cursor,u=this.limit,o=0,h=0,c=!1;;){for(var a=s+(e-s>>1),f=0,l=o<h?o:h,_=t[a],m=l;m<_.s_size;m++){if(n+l==u){f=-1;break}if(f=r.charCodeAt(n+l)-_.s[m])break;l++}if(f<0?(e=a,h=l):(s=a,o=l),e-s<=1){if(s>0||e==s||c)break;c=!0}}for(;;){var _=t[s];if(o>=_.s_size){if(this.cursor=n+_.s_size,!_.method)return _.result;var b=_.method();if(this.cursor=n+_.s_size,b)return _.result}if((s=_.substring_i)<0)return 0}},find_among_b:function(t,i){for(var s=0,e=i,n=this.cursor,u=this.limit_backward,o=0,h=0,c=!1;;){for(var a=s+(e-s>>1),f=0,l=o<h?o:h,_=t[a],m=_.s_size-1-l;m>=0;m--){if(n-l==u){f=-1;break}if(f=r.charCodeAt(n-1-l)-_.s[m])break;l++}if(f<0?(e=a,h=l):(s=a,o=l),e-s<=1){if(s>0||e==s||c)break;c=!0}}for(;;){var _=t[s];if(o>=_.s_size){if(this.cursor=n-_.s_size,!_.method)return _.result;var b=_.method();if(this.cursor=n-_.s_size,b)return _.result}if((s=_.substring_i)<0)return 0}},replace_s:function(t,i,s){var e=s.length-(i-t),n=r.substring(0,t),u=r.substring(i);return r=n+s+u,this.limit+=e,this.cursor>=i?this.cursor+=e:this.cursor>t&&(this.cursor=t),e},slice_check:function(){if(this.bra<0||this.bra>this.ket||this.ket>this.limit||this.limit>r.length)throw"faulty slice operation"},slice_from:function(r){this.slice_check(),this.replace_s(this.bra,this.ket,r)},slice_del:function(){this.slice_from("")},insert:function(r,t,i){var s=this.replace_s(r,t,i);r<=this.bra&&(this.bra+=s),r<=this.ket&&(this.ket+=s)},slice_to:function(){return this.slice_check(),r.substring(this.bra,this.ket)},eq_v_b:function(r){return this.eq_s_b(r.length,r)}}}},r.trimmerSupport={generateTrimmer:function(r){var t=new RegExp("^[^"+r+"]+"),i=new RegExp("[^"+r+"]+$");return function(r){return"function"==typeof r.update?r.update(function(r){return r.replace(t,"").replace(i,"")}):r.replace(t,"").replace(i,"")}}}}});
|
||||
18
assets/javascripts/lunr/min/lunr.sv.min.js
vendored
Normal file
18
assets/javascripts/lunr/min/lunr.sv.min.js
vendored
Normal file
|
|
@ -0,0 +1,18 @@
|
|||
/*!
|
||||
* Lunr languages, `Swedish` language
|
||||
* https://github.com/MihaiValentin/lunr-languages
|
||||
*
|
||||
* Copyright 2014, Mihai Valentin
|
||||
* http://www.mozilla.org/MPL/
|
||||
*/
|
||||
/*!
|
||||
* based on
|
||||
* Snowball JavaScript Library v0.3
|
||||
* http://code.google.com/p/urim/
|
||||
* http://snowball.tartarus.org/
|
||||
*
|
||||
* Copyright 2010, Oleg Mazko
|
||||
* http://www.mozilla.org/MPL/
|
||||
*/
|
||||
|
||||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.sv=function(){this.pipeline.reset(),this.pipeline.add(e.sv.trimmer,e.sv.stopWordFilter,e.sv.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.sv.stemmer))},e.sv.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",e.sv.trimmer=e.trimmerSupport.generateTrimmer(e.sv.wordCharacters),e.Pipeline.registerFunction(e.sv.trimmer,"trimmer-sv"),e.sv.stemmer=function(){var r=e.stemmerSupport.Among,n=e.stemmerSupport.SnowballProgram,t=new function(){function e(){var e,r=w.cursor+3;if(o=w.limit,0<=r||r<=w.limit){for(a=r;;){if(e=w.cursor,w.in_grouping(l,97,246)){w.cursor=e;break}if(w.cursor=e,w.cursor>=w.limit)return;w.cursor++}for(;!w.out_grouping(l,97,246);){if(w.cursor>=w.limit)return;w.cursor++}o=w.cursor,o<a&&(o=a)}}function t(){var e,r=w.limit_backward;if(w.cursor>=o&&(w.limit_backward=o,w.cursor=w.limit,w.ket=w.cursor,e=w.find_among_b(u,37),w.limit_backward=r,e))switch(w.bra=w.cursor,e){case 1:w.slice_del();break;case 2:w.in_grouping_b(d,98,121)&&w.slice_del()}}function i(){var e=w.limit_backward;w.cursor>=o&&(w.limit_backward=o,w.cursor=w.limit,w.find_among_b(c,7)&&(w.cursor=w.limit,w.ket=w.cursor,w.cursor>w.limit_backward&&(w.bra=--w.cursor,w.slice_del())),w.limit_backward=e)}function s(){var e,r;if(w.cursor>=o){if(r=w.limit_backward,w.limit_backward=o,w.cursor=w.limit,w.ket=w.cursor,e=w.find_among_b(m,5))switch(w.bra=w.cursor,e){case 1:w.slice_del();break;case 2:w.slice_from("lös");break;case 3:w.slice_from("full")}w.limit_backward=r}}var a,o,u=[new r("a",-1,1),new r("arna",0,1),new r("erna",0,1),new r("heterna",2,1),new r("orna",0,1),new r("ad",-1,1),new r("e",-1,1),new r("ade",6,1),new r("ande",6,1),new r("arne",6,1),new r("are",6,1),new r("aste",6,1),new r("en",-1,1),new r("anden",12,1),new r("aren",12,1),new r("heten",12,1),new r("ern",-1,1),new r("ar",-1,1),new r("er",-1,1),new r("heter",18,1),new r("or",-1,1),new r("s",-1,2),new r("as",21,1),new r("arnas",22,1),new r("ernas",22,1),new r("ornas",22,1),new r("es",21,1),new r("ades",26,1),new r("andes",26,1),new r("ens",21,1),new r("arens",29,1),new r("hetens",29,1),new r("erns",21,1),new r("at",-1,1),new r("andet",-1,1),new r("het",-1,1),new r("ast",-1,1)],c=[new r("dd",-1,-1),new r("gd",-1,-1),new r("nn",-1,-1),new r("dt",-1,-1),new r("gt",-1,-1),new r("kt",-1,-1),new r("tt",-1,-1)],m=[new r("ig",-1,1),new r("lig",0,1),new r("els",-1,1),new r("fullt",-1,3),new r("löst",-1,2)],l=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,24,0,32],d=[119,127,149],w=new n;this.setCurrent=function(e){w.setCurrent(e)},this.getCurrent=function(){return w.getCurrent()},this.stem=function(){var r=w.cursor;return e(),w.limit_backward=r,w.cursor=w.limit,t(),w.cursor=w.limit,i(),w.cursor=w.limit,s(),!0}};return function(e){return"function"==typeof e.update?e.update(function(e){return t.setCurrent(e),t.stem(),t.getCurrent()}):(t.setCurrent(e),t.stem(),t.getCurrent())}}(),e.Pipeline.registerFunction(e.sv.stemmer,"stemmer-sv"),e.sv.stopWordFilter=e.generateStopWordFilter("alla allt att av blev bli blir blivit de dem den denna deras dess dessa det detta dig din dina ditt du där då efter ej eller en er era ert ett från för ha hade han hans har henne hennes hon honom hur här i icke ingen inom inte jag ju kan kunde man med mellan men mig min mina mitt mot mycket ni nu när någon något några och om oss på samma sedan sig sin sina sitta själv skulle som så sådan sådana sådant till under upp ut utan vad var vara varför varit varje vars vart vem vi vid vilka vilkas vilken vilket vår våra vårt än är åt över".split(" ")),e.Pipeline.registerFunction(e.sv.stopWordFilter,"stopWordFilter-sv")}});
|
||||
1
assets/javascripts/lunr/min/lunr.ta.min.js
vendored
Normal file
1
assets/javascripts/lunr/min/lunr.ta.min.js
vendored
Normal file
|
|
@ -0,0 +1 @@
|
|||
!function(e,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.ta=function(){this.pipeline.reset(),this.pipeline.add(e.ta.trimmer,e.ta.stopWordFilter,e.ta.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.ta.stemmer))},e.ta.wordCharacters="-உஊ-ஏஐ-ஙச-ட-னப-யர-ஹ-ிீ-ொ-ௐ---௩௪-௯௰-௹௺-a-zA-Zａ-ｚＡ-Ｚ0-9０-９",e.ta.trimmer=e.trimmerSupport.generateTrimmer(e.ta.wordCharacters),e.Pipeline.registerFunction(e.ta.trimmer,"trimmer-ta"),e.ta.stopWordFilter=e.generateStopWordFilter("அங்கு அங்கே அது அதை அந்த அவர் அவர்கள் அவள் அவன் அவை ஆக ஆகவே ஆகையால் ஆதலால் ஆதலினால் ஆனாலும் ஆனால் இங்கு இங்கே இது இதை இந்த இப்படி இவர் இவர்கள் இவள் இவன் இவை இவ்வளவு உனக்கு உனது உன் உன்னால் எங்கு எங்கே எது எதை எந்த எப்படி எவர் எவர்கள் எவள் எவன் எவை எவ்வளவு எனக்கு எனது எனவே என் என்ன என்னால் ஏது ஏன் தனது தன்னால் தானே தான் நாங்கள் நாம் நான் நீ நீங்கள்".split(" ")),e.ta.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var t=e.wordcut;t.init(),e.ta.tokenizer=function(r){if(!arguments.length||null==r||void 0==r)return[];if(Array.isArray(r))return r.map(function(t){return isLunr2?new e.Token(t.toLowerCase()):t.toLowerCase()});var i=r.toString().toLowerCase().replace(/^\s+/,"");return t.cut(i).split("|")},e.Pipeline.registerFunction(e.ta.stemmer,"stemmer-ta"),e.Pipeline.registerFunction(e.ta.stopWordFilter,"stopWordFilter-ta")}});
|
||||
1
assets/javascripts/lunr/min/lunr.te.min.js
vendored
Normal file
1
assets/javascripts/lunr/min/lunr.te.min.js
vendored
Normal file
|
|
@ -0,0 +1 @@
|
|||
!function(e,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.te=function(){this.pipeline.reset(),this.pipeline.add(e.te.trimmer,e.te.stopWordFilter,e.te.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.te.stemmer))},e.te.wordCharacters="ఀ-ఄఅ-ఔక-హా-ౌౕ-ౖౘ-ౚౠ-ౡౢ-ౣ౦-౯౸-౿఼ఽ్ౝ౷",e.te.trimmer=e.trimmerSupport.generateTrimmer(e.te.wordCharacters),e.Pipeline.registerFunction(e.te.trimmer,"trimmer-te"),e.te.stopWordFilter=e.generateStopWordFilter("అందరూ అందుబాటులో అడగండి అడగడం అడ్డంగా అనుగుణంగా అనుమతించు అనుమతిస్తుంది అయితే ఇప్పటికే ఉన్నారు ఎక్కడైనా ఎప్పుడు ఎవరైనా ఎవరో ఏ ఏదైనా ఏమైనప్పటికి ఒక ఒకరు కనిపిస్తాయి కాదు కూడా గా గురించి చుట్టూ చేయగలిగింది తగిన తర్వాత దాదాపు దూరంగా నిజంగా పై ప్రకారం ప్రక్కన మధ్య మరియు మరొక మళ్ళీ మాత్రమే మెచ్చుకో వద్ద వెంట వేరుగా వ్యతిరేకంగా సంబంధం".split(" ")),e.te.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var t=e.wordcut;t.init(),e.te.tokenizer=function(r){if(!arguments.length||null==r||void 0==r)return[];if(Array.isArray(r))return r.map(function(t){return isLunr2?new e.Token(t.toLowerCase()):t.toLowerCase()});var i=r.toString().toLowerCase().replace(/^\s+/,"");return t.cut(i).split("|")},e.Pipeline.registerFunction(e.te.stemmer,"stemmer-te"),e.Pipeline.registerFunction(e.te.stopWordFilter,"stopWordFilter-te")}});
|
||||
1
assets/javascripts/lunr/min/lunr.th.min.js
vendored
Normal file
1
assets/javascripts/lunr/min/lunr.th.min.js
vendored
Normal file
|
|
@ -0,0 +1 @@
|
|||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");var r="2"==e.version[0];e.th=function(){this.pipeline.reset(),this.pipeline.add(e.th.trimmer),r?this.tokenizer=e.th.tokenizer:(e.tokenizer&&(e.tokenizer=e.th.tokenizer),this.tokenizerFn&&(this.tokenizerFn=e.th.tokenizer))},e.th.wordCharacters="[-]",e.th.trimmer=e.trimmerSupport.generateTrimmer(e.th.wordCharacters),e.Pipeline.registerFunction(e.th.trimmer,"trimmer-th");var t=e.wordcut;t.init(),e.th.tokenizer=function(i){if(!arguments.length||null==i||void 0==i)return[];if(Array.isArray(i))return i.map(function(t){return r?new e.Token(t):t});var n=i.toString().replace(/^\s+/,"");return t.cut(n).split("|")}}});
|
||||
18
assets/javascripts/lunr/min/lunr.tr.min.js
vendored
Normal file
18
assets/javascripts/lunr/min/lunr.tr.min.js
vendored
Normal file
File diff suppressed because one or more lines are too long
1
assets/javascripts/lunr/min/lunr.vi.min.js
vendored
Normal file
1
assets/javascripts/lunr/min/lunr.vi.min.js
vendored
Normal file
|
|
@ -0,0 +1 @@
|
|||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.vi=function(){this.pipeline.reset(),this.pipeline.add(e.vi.stopWordFilter,e.vi.trimmer)},e.vi.wordCharacters="[A-Za-ẓ̀͐́͑̉̃̓ÂâÊêÔôĂ-ăĐ-đƠ-ơƯ-ư]",e.vi.trimmer=e.trimmerSupport.generateTrimmer(e.vi.wordCharacters),e.Pipeline.registerFunction(e.vi.trimmer,"trimmer-vi"),e.vi.stopWordFilter=e.generateStopWordFilter("là cái nhưng mà".split(" "))}});
|
||||
1
assets/javascripts/lunr/min/lunr.zh.min.js
vendored
Normal file
1
assets/javascripts/lunr/min/lunr.zh.min.js
vendored
Normal file
|
|
@ -0,0 +1 @@
|
|||
!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r(require("@node-rs/jieba")):r()(e.lunr)}(this,function(e){return function(r,t){if(void 0===r)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===r.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");var i="2"==r.version[0];r.zh=function(){this.pipeline.reset(),this.pipeline.add(r.zh.trimmer,r.zh.stopWordFilter,r.zh.stemmer),i?this.tokenizer=r.zh.tokenizer:(r.tokenizer&&(r.tokenizer=r.zh.tokenizer),this.tokenizerFn&&(this.tokenizerFn=r.zh.tokenizer))},r.zh.tokenizer=function(n){if(!arguments.length||null==n||void 0==n)return[];if(Array.isArray(n))return n.map(function(e){return i?new r.Token(e.toLowerCase()):e.toLowerCase()});t&&e.load(t);var o=n.toString().trim().toLowerCase(),s=[];e.cut(o,!0).forEach(function(e){s=s.concat(e.split(" "))}),s=s.filter(function(e){return!!e});var u=0;return s.map(function(e,t){if(i){var n=o.indexOf(e,u),s={};return s.position=[n,e.length],s.index=t,u=n,new r.Token(e,s)}return e})},r.zh.wordCharacters="\\w一-龥",r.zh.trimmer=r.trimmerSupport.generateTrimmer(r.zh.wordCharacters),r.Pipeline.registerFunction(r.zh.trimmer,"trimmer-zh"),r.zh.stemmer=function(){return function(e){return e}}(),r.Pipeline.registerFunction(r.zh.stemmer,"stemmer-zh"),r.zh.stopWordFilter=r.generateStopWordFilter("的 一 不 在 人 有 是 为 為 以 于 於 上 他 而 后 後 之 来 來 及 了 因 下 可 到 由 这 這 与 與 也 此 但 并 並 个 個 其 已 无 無 小 我 们 們 起 最 再 今 去 好 只 又 或 很 亦 某 把 那 你 乃 它 吧 被 比 别 趁 当 當 从 從 得 打 凡 儿 兒 尔 爾 该 該 各 给 給 跟 和 何 还 還 即 几 幾 既 看 据 據 距 靠 啦 另 么 麽 每 嘛 拿 哪 您 凭 憑 且 却 卻 让 讓 仍 啥 如 若 使 谁 誰 虽 雖 随 隨 同 所 她 哇 嗡 往 些 向 沿 哟 喲 用 咱 则 則 怎 曾 至 致 着 著 诸 諸 自".split(" ")),r.Pipeline.registerFunction(r.zh.stopWordFilter,"stopWordFilter-zh")}});
|
||||
206
assets/javascripts/lunr/tinyseg.js
Normal file
206
assets/javascripts/lunr/tinyseg.js
Normal file
|
|
@ -0,0 +1,206 @@
|
|||
/**
|
||||
* export the module via AMD, CommonJS or as a browser global
|
||||
* Export code from https://github.com/umdjs/umd/blob/master/returnExports.js
|
||||
*/
|
||||
;(function (root, factory) {
|
||||
if (typeof define === 'function' && define.amd) {
|
||||
// AMD. Register as an anonymous module.
|
||||
define(factory)
|
||||
} else if (typeof exports === 'object') {
|
||||
/**
|
||||
* Node. Does not work with strict CommonJS, but
|
||||
* only CommonJS-like environments that support module.exports,
|
||||
* like Node.
|
||||
*/
|
||||
module.exports = factory()
|
||||
} else {
|
||||
// Browser globals (root is window)
|
||||
factory()(root.lunr);
|
||||
}
|
||||
}(this, function () {
|
||||
/**
|
||||
* Just return a value to define the module export.
|
||||
* This example returns an object, but the module
|
||||
* can return a function as the exported value.
|
||||
*/
|
||||
|
||||
return function(lunr) {
|
||||
// TinySegmenter 0.1 -- Super compact Japanese tokenizer in Javascript
|
||||
// (c) 2008 Taku Kudo <taku@chasen.org>
|
||||
// TinySegmenter is freely distributable under the terms of a new BSD licence.
|
||||
// For details, see http://chasen.org/~taku/software/TinySegmenter/LICENCE.txt
|
||||
|
||||
function TinySegmenter() {
|
||||
var patterns = {
|
||||
"[一二三四五六七八九十百千万億兆]":"M",
|
||||
"[一-龠々〆ヵヶ]":"H",
|
||||
"[ぁ-ん]":"I",
|
||||
"[ァ-ヴーｱ-ﾝﾞｰ]":"K",
|
||||
"[a-zA-Zａ-ｚＡ-Ｚ]":"A",
|
||||
"[0-9０-９]":"N"
|
||||
}
|
||||
this.chartype_ = [];
|
||||
for (var i in patterns) {
|
||||
var regexp = new RegExp(i);
|
||||
this.chartype_.push([regexp, patterns[i]]);
|
||||
}
|
||||
|
||||
this.BIAS__ = -332
|
||||
this.BC1__ = {"HH":6,"II":2461,"KH":406,"OH":-1378};
|
||||
this.BC2__ = {"AA":-3267,"AI":2744,"AN":-878,"HH":-4070,"HM":-1711,"HN":4012,"HO":3761,"IA":1327,"IH":-1184,"II":-1332,"IK":1721,"IO":5492,"KI":3831,"KK":-8741,"MH":-3132,"MK":3334,"OO":-2920};
|
||||
this.BC3__ = {"HH":996,"HI":626,"HK":-721,"HN":-1307,"HO":-836,"IH":-301,"KK":2762,"MK":1079,"MM":4034,"OA":-1652,"OH":266};
|
||||
this.BP1__ = {"BB":295,"OB":304,"OO":-125,"UB":352};
|
||||
this.BP2__ = {"BO":60,"OO":-1762};
|
||||
this.BQ1__ = {"BHH":1150,"BHM":1521,"BII":-1158,"BIM":886,"BMH":1208,"BNH":449,"BOH":-91,"BOO":-2597,"OHI":451,"OIH":-296,"OKA":1851,"OKH":-1020,"OKK":904,"OOO":2965};
|
||||
this.BQ2__ = {"BHH":118,"BHI":-1159,"BHM":466,"BIH":-919,"BKK":-1720,"BKO":864,"OHH":-1139,"OHM":-181,"OIH":153,"UHI":-1146};
|
||||
this.BQ3__ = {"BHH":-792,"BHI":2664,"BII":-299,"BKI":419,"BMH":937,"BMM":8335,"BNN":998,"BOH":775,"OHH":2174,"OHM":439,"OII":280,"OKH":1798,"OKI":-793,"OKO":-2242,"OMH":-2402,"OOO":11699};
|
||||
this.BQ4__ = {"BHH":-3895,"BIH":3761,"BII":-4654,"BIK":1348,"BKK":-1806,"BMI":-3385,"BOO":-12396,"OAH":926,"OHH":266,"OHK":-2036,"ONN":-973};
|
||||
this.BW1__ = {",と":660,",同":727,"B1あ":1404,"B1同":542,"、と":660,"、同":727,"」と":1682,"あっ":1505,"いう":1743,"いっ":-2055,"いる":672,"うし":-4817,"うん":665,"から":3472,"がら":600,"こう":-790,"こと":2083,"こん":-1262,"さら":-4143,"さん":4573,"した":2641,"して":1104,"すで":-3399,"そこ":1977,"それ":-871,"たち":1122,"ため":601,"った":3463,"つい":-802,"てい":805,"てき":1249,"でき":1127,"です":3445,"では":844,"とい":-4915,"とみ":1922,"どこ":3887,"ない":5713,"なっ":3015,"など":7379,"なん":-1113,"にし":2468,"には":1498,"にも":1671,"に対":-912,"の一":-501,"の中":741,"ませ":2448,"まで":1711,"まま":2600,"まる":-2155,"やむ":-1947,"よっ":-2565,"れた":2369,"れで":-913,"をし":1860,"を見":731,"亡く":-1886,"京都":2558,"取り":-2784,"大き":-2604,"大阪":1497,"平方":-2314,"引き":-1336,"日本":-195,"本当":-2423,"毎日":-2113,"目指":-724,"Ｂ１あ":1404,"Ｂ１同":542,"｣と":1682};
|
||||
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this.UW6__ = {",":227,".":808,"1":-270,"E1":306,"、":227,"。":808,"あ":-307,"う":189,"か":241,"が":-73,"く":-121,"こ":-200,"じ":1782,"す":383,"た":-428,"っ":573,"て":-1014,"で":101,"と":-105,"な":-253,"に":-149,"の":-417,"は":-236,"も":-206,"り":187,"る":-135,"を":195,"ル":-673,"ン":-496,"一":-277,"中":201,"件":-800,"会":624,"前":302,"区":1792,"員":-1212,"委":798,"学":-960,"市":887,"広":-695,"後":535,"業":-697,"相":753,"社":-507,"福":974,"空":-822,"者":1811,"連":463,"郎":1082,"１":-270,"Ｅ１":306,"ﾙ":-673,"ﾝ":-496};
|
||||
|
||||
return this;
|
||||
}
|
||||
TinySegmenter.prototype.ctype_ = function(str) {
|
||||
for (var i in this.chartype_) {
|
||||
if (str.match(this.chartype_[i][0])) {
|
||||
return this.chartype_[i][1];
|
||||
}
|
||||
}
|
||||
return "O";
|
||||
}
|
||||
|
||||
TinySegmenter.prototype.ts_ = function(v) {
|
||||
if (v) { return v; }
|
||||
return 0;
|
||||
}
|
||||
|
||||
TinySegmenter.prototype.segment = function(input) {
|
||||
if (input == null || input == undefined || input == "") {
|
||||
return [];
|
||||
}
|
||||
var result = [];
|
||||
var seg = ["B3","B2","B1"];
|
||||
var ctype = ["O","O","O"];
|
||||
var o = input.split("");
|
||||
for (i = 0; i < o.length; ++i) {
|
||||
seg.push(o[i]);
|
||||
ctype.push(this.ctype_(o[i]))
|
||||
}
|
||||
seg.push("E1");
|
||||
seg.push("E2");
|
||||
seg.push("E3");
|
||||
ctype.push("O");
|
||||
ctype.push("O");
|
||||
ctype.push("O");
|
||||
var word = seg[3];
|
||||
var p1 = "U";
|
||||
var p2 = "U";
|
||||
var p3 = "U";
|
||||
for (var i = 4; i < seg.length - 3; ++i) {
|
||||
var score = this.BIAS__;
|
||||
var w1 = seg[i-3];
|
||||
var w2 = seg[i-2];
|
||||
var w3 = seg[i-1];
|
||||
var w4 = seg[i];
|
||||
var w5 = seg[i+1];
|
||||
var w6 = seg[i+2];
|
||||
var c1 = ctype[i-3];
|
||||
var c2 = ctype[i-2];
|
||||
var c3 = ctype[i-1];
|
||||
var c4 = ctype[i];
|
||||
var c5 = ctype[i+1];
|
||||
var c6 = ctype[i+2];
|
||||
score += this.ts_(this.UP1__[p1]);
|
||||
score += this.ts_(this.UP2__[p2]);
|
||||
score += this.ts_(this.UP3__[p3]);
|
||||
score += this.ts_(this.BP1__[p1 + p2]);
|
||||
score += this.ts_(this.BP2__[p2 + p3]);
|
||||
score += this.ts_(this.UW1__[w1]);
|
||||
score += this.ts_(this.UW2__[w2]);
|
||||
score += this.ts_(this.UW3__[w3]);
|
||||
score += this.ts_(this.UW4__[w4]);
|
||||
score += this.ts_(this.UW5__[w5]);
|
||||
score += this.ts_(this.UW6__[w6]);
|
||||
score += this.ts_(this.BW1__[w2 + w3]);
|
||||
score += this.ts_(this.BW2__[w3 + w4]);
|
||||
score += this.ts_(this.BW3__[w4 + w5]);
|
||||
score += this.ts_(this.TW1__[w1 + w2 + w3]);
|
||||
score += this.ts_(this.TW2__[w2 + w3 + w4]);
|
||||
score += this.ts_(this.TW3__[w3 + w4 + w5]);
|
||||
score += this.ts_(this.TW4__[w4 + w5 + w6]);
|
||||
score += this.ts_(this.UC1__[c1]);
|
||||
score += this.ts_(this.UC2__[c2]);
|
||||
score += this.ts_(this.UC3__[c3]);
|
||||
score += this.ts_(this.UC4__[c4]);
|
||||
score += this.ts_(this.UC5__[c5]);
|
||||
score += this.ts_(this.UC6__[c6]);
|
||||
score += this.ts_(this.BC1__[c2 + c3]);
|
||||
score += this.ts_(this.BC2__[c3 + c4]);
|
||||
score += this.ts_(this.BC3__[c4 + c5]);
|
||||
score += this.ts_(this.TC1__[c1 + c2 + c3]);
|
||||
score += this.ts_(this.TC2__[c2 + c3 + c4]);
|
||||
score += this.ts_(this.TC3__[c3 + c4 + c5]);
|
||||
score += this.ts_(this.TC4__[c4 + c5 + c6]);
|
||||
// score += this.ts_(this.TC5__[c4 + c5 + c6]);
|
||||
score += this.ts_(this.UQ1__[p1 + c1]);
|
||||
score += this.ts_(this.UQ2__[p2 + c2]);
|
||||
score += this.ts_(this.UQ3__[p3 + c3]);
|
||||
score += this.ts_(this.BQ1__[p2 + c2 + c3]);
|
||||
score += this.ts_(this.BQ2__[p2 + c3 + c4]);
|
||||
score += this.ts_(this.BQ3__[p3 + c2 + c3]);
|
||||
score += this.ts_(this.BQ4__[p3 + c3 + c4]);
|
||||
score += this.ts_(this.TQ1__[p2 + c1 + c2 + c3]);
|
||||
score += this.ts_(this.TQ2__[p2 + c2 + c3 + c4]);
|
||||
score += this.ts_(this.TQ3__[p3 + c1 + c2 + c3]);
|
||||
score += this.ts_(this.TQ4__[p3 + c2 + c3 + c4]);
|
||||
var p = "O";
|
||||
if (score > 0) {
|
||||
result.push(word);
|
||||
word = "";
|
||||
p = "B";
|
||||
}
|
||||
p1 = p2;
|
||||
p2 = p3;
|
||||
p3 = p;
|
||||
word += seg[i];
|
||||
}
|
||||
result.push(word);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
lunr.TinySegmenter = TinySegmenter;
|
||||
};
|
||||
|
||||
}));
|
||||
6708
assets/javascripts/lunr/wordcut.js
Normal file
6708
assets/javascripts/lunr/wordcut.js
Normal file
File diff suppressed because one or more lines are too long
42
assets/javascripts/workers/search.2c215733.min.js
vendored
Normal file
42
assets/javascripts/workers/search.2c215733.min.js
vendored
Normal file
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7
assets/javascripts/workers/search.2c215733.min.js.map
Normal file
7
assets/javascripts/workers/search.2c215733.min.js.map
Normal file
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1
assets/stylesheets/main.484c7ddc.min.css
vendored
Normal file
1
assets/stylesheets/main.484c7ddc.min.css
vendored
Normal file
File diff suppressed because one or more lines are too long
1
assets/stylesheets/main.484c7ddc.min.css.map
Normal file
1
assets/stylesheets/main.484c7ddc.min.css.map
Normal file
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1
assets/stylesheets/palette.ab4e12ef.min.css
vendored
Normal file
1
assets/stylesheets/palette.ab4e12ef.min.css
vendored
Normal file
File diff suppressed because one or more lines are too long
1
assets/stylesheets/palette.ab4e12ef.min.css.map
Normal file
1
assets/stylesheets/palette.ab4e12ef.min.css.map
Normal file
|
|
@ -0,0 +1 @@
|
|||
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|
||||
1022
design/actor-critic/index.html
Normal file
1022
design/actor-critic/index.html
Normal file
File diff suppressed because it is too large
Load diff
971
design/communication/index.html
Normal file
971
design/communication/index.html
Normal file
|
|
@ -0,0 +1,971 @@
|
|||
|
||||
<!doctype html>
|
||||
<html lang="en" class="no-js">
|
||||
<head>
|
||||
|
||||
<meta charset="utf-8">
|
||||
<meta name="viewport" content="width=device-width,initial-scale=1">
|
||||
|
||||
|
||||
|
||||
|
||||
<link rel="prev" href="../actor-critic/">
|
||||
|
||||
|
||||
<link rel="next" href="../controllers/">
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<link rel="icon" href="../../assets/images/favicon.png">
|
||||
<meta name="generator" content="mkdocs-1.6.1, mkdocs-material-9.7.6">
|
||||
|
||||
|
||||
|
||||
<title>Communication scheme (Message Passing) - Brittle Star Project</title>
|
||||
|
||||
|
||||
|
||||
<link rel="stylesheet" href="../../assets/stylesheets/main.484c7ddc.min.css">
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<link rel="preconnect" href="https://fonts.gstatic.com" crossorigin>
|
||||
<link rel="stylesheet" href="https://fonts.googleapis.com/css?family=Roboto:300,300i,400,400i,700,700i%7CRoboto+Mono:400,400i,700,700i&display=fallback">
|
||||
<style>:root{--md-text-font:"Roboto";--md-code-font:"Roboto Mono"}</style>
|
||||
|
||||
|
||||
|
||||
<script>__md_scope=new URL("../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</head>
|
||||
|
||||
|
||||
<body dir="ltr">
|
||||
|
||||
|
||||
<input class="md-toggle" data-md-toggle="drawer" type="checkbox" id="__drawer" autocomplete="off">
|
||||
<input class="md-toggle" data-md-toggle="search" type="checkbox" id="__search" autocomplete="off">
|
||||
<label class="md-overlay" for="__drawer"></label>
|
||||
<div data-md-component="skip">
|
||||
|
||||
|
||||
<a href="#communication-scheme-message-passing" class="md-skip">
|
||||
Skip to content
|
||||
</a>
|
||||
|
||||
</div>
|
||||
<div data-md-component="announce">
|
||||
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<header class="md-header md-header--shadow" data-md-component="header">
|
||||
<nav class="md-header__inner md-grid" aria-label="Header">
|
||||
<a href="../.." title="Brittle Star Project" class="md-header__button md-logo" aria-label="Brittle Star Project" data-md-component="logo">
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||||
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||||
|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 8a3 3 0 0 0 3-3 3 3 0 0 0-3-3 3 3 0 0 0-3 3 3 3 0 0 0 3 3m0 3.54C9.64 9.35 6.5 8 3 8v11c3.5 0 6.64 1.35 9 3.54 2.36-2.19 5.5-3.54 9-3.54V8c-3.5 0-6.64 1.35-9 3.54"/></svg>
|
||||
|
||||
</a>
|
||||
<label class="md-header__button md-icon" for="__drawer">
|
||||
|
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<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
|
||||
</label>
|
||||
<div class="md-header__title" data-md-component="header-title">
|
||||
<div class="md-header__ellipsis">
|
||||
<div class="md-header__topic">
|
||||
<span class="md-ellipsis">
|
||||
Brittle Star Project
|
||||
</span>
|
||||
</div>
|
||||
<div class="md-header__topic" data-md-component="header-topic">
|
||||
<span class="md-ellipsis">
|
||||
|
||||
Communication scheme (Message Passing)
|
||||
|
||||
</span>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
<script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<label class="md-header__button md-icon" for="__search">
|
||||
|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
|
||||
</label>
|
||||
<div class="md-search" data-md-component="search" role="dialog">
|
||||
<label class="md-search__overlay" for="__search"></label>
|
||||
<div class="md-search__inner" role="search">
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||||
<form class="md-search__form" name="search">
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||||
<input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
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<label class="md-search__icon md-icon" for="__search">
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||||
|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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||||
|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
|
||||
</label>
|
||||
<nav class="md-search__options" aria-label="Search">
|
||||
|
||||
<button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
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||||
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||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
|
||||
</button>
|
||||
</nav>
|
||||
|
||||
</form>
|
||||
<div class="md-search__output">
|
||||
<div class="md-search__scrollwrap" tabindex="0" data-md-scrollfix>
|
||||
<div class="md-search-result" data-md-component="search-result">
|
||||
<div class="md-search-result__meta">
|
||||
Initializing search
|
||||
</div>
|
||||
<ol class="md-search-result__list" role="presentation"></ol>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
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||||
</div>
|
||||
|
||||
|
||||
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||||
</nav>
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||||
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</header>
|
||||
|
||||
<div class="md-container" data-md-component="container">
|
||||
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||||
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||||
|
||||
|
||||
|
||||
<main class="md-main" data-md-component="main">
|
||||
<div class="md-main__inner md-grid">
|
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||||
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<div class="md-sidebar md-sidebar--primary" data-md-component="sidebar" data-md-type="navigation" >
|
||||
<div class="md-sidebar__scrollwrap">
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<div class="md-sidebar__inner">
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<nav class="md-nav md-nav--primary" aria-label="Navigation" data-md-level="0">
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<label class="md-nav__title" for="__drawer">
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<a href="../.." title="Brittle Star Project" class="md-nav__button md-logo" aria-label="Brittle Star Project" data-md-component="logo">
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|
||||
|
||||
</a>
|
||||
Brittle Star Project
|
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</label>
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<ul class="md-nav__list" data-md-scrollfix>
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||||
<h1 id="communication-scheme-message-passing">Communication scheme (Message Passing)</h1>
|
||||
<p>Remember our research question:</p>
|
||||
<blockquote>
|
||||
<p>"What is the impact of different levels of controller modularity on learning speed, coordination, and fault tolerance
|
||||
(e.g. amputations) in brittle-star-like robots trained with Reinforcement Learning?"</p>
|
||||
</blockquote>
|
||||
<p>To test decentralized modularity (such as arm-level or segment-level controllers), the various modules <em>must</em> be able to
|
||||
communicate with each other to achieve coordinated locomotion. This is accomplished through <em>message passing</em> in a Graph
|
||||
Neural Network (GNN)-like architecture. Two prominent communication styles from the literature are N-step NerveNet (Wang
|
||||
et al., 2018) and bottom-up top-down Shared Modular Policies (Huang et al., 2020).</p>
|
||||
<p>We have chosen to apply <strong>one uniform communication style</strong> across all modular architectures, specifically opting for
|
||||
<strong>N-step NerveNet</strong>.</p>
|
||||
<h2 id="rationale">Rationale</h2>
|
||||
<p>Initially, our idea was to equip arm-level controllers with NerveNet message passing and segment-level controllers with
|
||||
SMP. However, we evaluated that this introduces a threat to the validity of our research question. If we observe
|
||||
differences in performance, it would be impossible to determine whether the variance is caused by the <em>level of
|
||||
modularity</em>, or by the difference in the message passing scheme. To purely compare modularity, the communication scheme
|
||||
style must remain constant.</p>
|
||||
<p>Second, we decided that NerveNet is a better fit for our research. The morphology of our brittle star contains cycles at
|
||||
the decentralized level (e.g., a ring of segments or arms around the body). NerveNet has proven to be robust for
|
||||
arbitrary structures, including graphs with cycles. SMP inherently expects a tree structure for its bottom-up and
|
||||
top-down pass. Applying SMP to a ring structure requires a workaround to break that cycle.</p>
|
||||
<h2 id="limitations-and-alternatives">Limitations and alternatives</h2>
|
||||
<p>Choosing NerveNet introduces a scalability issue as the morphology grows. In NerveNet, a message advances only one
|
||||
segment or node per propagation step. When dealing with long arms (e.g., > 5 segments), this requires a large number of
|
||||
propagation steps to transmit information from one tip of an arm to another.</p>
|
||||
<p>If we were to use SMP instead - which is possible - the inner states of nodes are shared across the entire graph in just
|
||||
two passes. For very large or long morphologies, this would be much more scalable.</p>
|
||||
<p>By rejecting SMP, we accept that our model might learn slower or require more computational power for highly segmented,
|
||||
extended morphologies.</p>
|
||||
<p><strong>References</strong></p>
|
||||
<ul>
|
||||
<li>Wang, Tingwu, Renjie Liao, Jimmy Ba, and S. Fidler. ‘NerveNet: Learning Structured Policy with Graph Neural Networks’. Conference paper presented at International Conference on Learning Representations. 15 February 2018. https://www.semanticscholar.org/paper/NerveNet:-Learning-Structured-Policy-with-Graph-Wang-Liao/249408527106d7595d45dd761dd53c83e5a02613.</li>
|
||||
<li>Huang, Wenlong, Igor Mordatch, and Deepak Pathak. ‘One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Control’. arXiv:2007.04976. Preprint, arXiv, 9 July 2020. https://doi.org/10.48550/arXiv.2007.04976.</li>
|
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</ul>
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Actor-Critic Architecture
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Levels of modularity and topology
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Reinforcement Learning Algorithm
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Reward function and observation space
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<h1 id="levels-of-modularity-and-topology">Levels of modularity and topology</h1>
|
||||
<p>The brittle star can be controlled at different levels. A monolithic controller processes all inputs and outputs at
|
||||
once, whereas modular controllers divide the brains across the body, inspired by the biology of brittle stars.</p>
|
||||
<p>We define four architectures to compare:</p>
|
||||
<ol>
|
||||
<li><strong>Centralized, monolithic</strong>: A single Multi Layer Perceptron per robot that receives all observations and outputs
|
||||
all actions.</li>
|
||||
<li><strong>Fully connected arm-level</strong>: Each arm contains an MLP that processes the inputs for that arm, an MLP that processes
|
||||
the communicated inner-states, and an MLP that outputs the actions for that arm. One policy for these MLPs is shared
|
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across the arms. The controllers in each arm are connected to each other and form a fully connected graph. There is
|
||||
no central disk, but the controllers are fully connected.</li>
|
||||
<li><strong>Ring arm-level</strong>: Identical setup to the fully connected arm-level, but the controllers are connected in a ring
|
||||
structure. This setup is considered less centralized than the fully connected graph.</li>
|
||||
<li><strong>Segment-level</strong>: Each segment contains the three MLPs discussed above. The base segments, attached to the body,
|
||||
form a ring structure, with the remaining segments attached as extended "strings". Segments can only communicate with
|
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segments that are physically connected to it.</li>
|
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</ol>
|
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<h2 id="rationale">Rationale</h2>
|
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<p>To fairly compare decentralized modularity against centralized control, the decentralized models should not be allowed
|
||||
to contain a central organ acting as a bottleneck or coordinator. By removing the central disk in the decentralized
|
||||
models and replacing it with a ring topology, we closely approximate the biological reality of the brittle star and test
|
||||
a decentralized morphology.</p>
|
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<p>The fully connected graph functions as an intermediate step in between a fully centralized and a decentralized ring. We
|
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use it to test whether our models scale to more complex structures.</p>
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Reinforcement Learning Algorithm
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|
||||
|
||||
|
||||
<h1 id="reinforcement-learning-algorithm">Reinforcement Learning Algorithm</h1>
|
||||
<p>To control the <em>continuous</em> action space (the joints of the robot) based on sensor data, we require a reliable
|
||||
Reinforcement Learning (RL) algorithm or optimization strategy.</p>
|
||||
<p>We have chosen <strong>Proximal Policy Optimization (PPO)</strong> (Schulman et al., 2017).</p>
|
||||
<h2 id="rationale">Rationale</h2>
|
||||
<p>PPO is an on-policy algorithm known for its stability and robustness (safe training without excessive variance). More
|
||||
importantly, it requires relatively little hyperparameter tuning compared to other algorithms. Since NerveNet was
|
||||
successfully trained using PPO (Wang et al., 2018), selecting PPO significantly reduces the risk of convergence
|
||||
failures.</p>
|
||||
<h2 id="limitations-and-alternatives">Limitations and alternatives</h2>
|
||||
<p>Alternative learning algorithms include:</p>
|
||||
<ul>
|
||||
<li><strong>Twin Delayed DDPG (Fujimoto et al., 2018)</strong>: TD3 is a strong off-policy alternative used in the SMP paper (Huang et
|
||||
al., 2020). It is highly sample-efficient and reportedly excels at zero-shot adaptations. However, this approach would
|
||||
be more complex and error-prone than with PPO.</li>
|
||||
<li><strong>Evolution strategies (ES)</strong>: Evolution strategies are useful for optimizing Central Pattern Generators (CPGs), e.g.
|
||||
CMA-ES, OpenAI-ES. While this method is easier to distribute and parallelize, ES typically scales worse with
|
||||
exceptionally large observation spaces compared to gradient-based RL methods like PPO.</li>
|
||||
</ul>
|
||||
<p><strong>References</strong></p>
|
||||
<ul>
|
||||
<li>Fujimoto, Scott, Herke Hoof, and David Meger. ‘Addressing Function Approximation Error in Actor-Critic Methods’. Proceedings of the 35th International Conference on Machine Learning, 3 July 2018, 1587-96. https://proceedings.mlr.press/v80/fujimoto18a.html.</li>
|
||||
<li>Huang, Wenlong, Igor Mordatch, and Deepak Pathak. ‘One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Control’. arXiv:2007.04976. Preprint, arXiv, 9 July 2020. https://doi.org/10.48550/arXiv.2007.04976.</li>
|
||||
<li>Schulman, John, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov. ‘Proximal Policy Optimization Algorithms’. arXiv:1707.06347. Preprint, arXiv, 28 August 2017. https://doi.org/10.48550/arXiv.1707.06347.</li>
|
||||
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|
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Reinforcement Learning Algorithm
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Reward function and observation space
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Reward function and observation space
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From reward to PPO
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|
||||
<h1 id="reward-function-and-observation-space">Reward function and observation space</h1>
|
||||
<p>The robot needs to know whether its movements contribute to the ultimate goal of locomotion towards a target. Sensor
|
||||
inputs must be distributed fairly to guarantee an objective comparison between different architectures.</p>
|
||||
<ul>
|
||||
<li>The distance from the robot to the target and/or the light intensity are treated as global inputs.</li>
|
||||
<li>Positions and joints, which are normalized to floating-point values between 0 and 1, are considered local inputs.</li>
|
||||
<li>The reward function is centered around minimizing the distance to the goal or maximizing the movement towards the goal
|
||||
within a finite number of timesteps $T$.</li>
|
||||
<li>To motivate efficient movement, the amount of timesteps taken to reach the goal will be used as penalty.</li>
|
||||
<li>An extra penalty based on movement relative to the current step and
|
||||
the previous is used to penalize a movement away from the target.</li>
|
||||
</ul>
|
||||
<h2 id="from-reward-to-ppo">From reward to PPO</h2>
|
||||
<p>The resulting reward is passed to our PPO library. Our critic network (value function) predicts how good our eventual reward will be for the current state, this value is combined with the reward from the reward function to get advantages. These advantages are then used to calculate the losses to update both our critic and actor pipeline.</p>
|
||||
<h2 id="rationale">Rationale</h2>
|
||||
<p>Using a light source (or a gradient) is biologically plausible for many simple organisms. By normalizing all signals
|
||||
between 0 and 1, PPO training is highly stabilized. The timesteps must be finite to reset the environment in a timely
|
||||
manner if the policy gets stuck in a local minimum.</p>
|
||||
<h2 id="limitations-and-alternatives">Limitations and alternatives</h2>
|
||||
<p>Providing global information to all individual decentralized segments can be considered biologically cheating or
|
||||
practically infeasible once the robot would be physically built. Some sensory input cannot be put in each joint, for
|
||||
example.</p>
|
||||
<p>The alternative is to provide the global input to the outermost segments of the arms, or a specific set of segments
|
||||
assigned with this functionality. The network would then have to learn to propagate this signal throughout the body via
|
||||
message passing. While biologically more accurate, this drastically complicates the learning process. We have written
|
||||
this down as potential future research.</p>
|
||||
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||||
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||||
|
||||
|
||||
|
||||
|
||||
<label class="md-header__button md-icon" for="__search">
|
||||
|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
|
||||
</label>
|
||||
<div class="md-search" data-md-component="search" role="dialog">
|
||||
<label class="md-search__overlay" for="__search"></label>
|
||||
<div class="md-search__inner" role="search">
|
||||
<form class="md-search__form" name="search">
|
||||
<input type="text" class="md-search__input" name="query" aria-label="Search" placeholder="Search" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
|
||||
<label class="md-search__icon md-icon" for="__search">
|
||||
|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
|
||||
|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
|
||||
</label>
|
||||
<nav class="md-search__options" aria-label="Search">
|
||||
|
||||
<button type="reset" class="md-search__icon md-icon" title="Clear" aria-label="Clear" tabindex="-1">
|
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|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
|
||||
</button>
|
||||
</nav>
|
||||
|
||||
</form>
|
||||
<div class="md-search__output">
|
||||
<div class="md-search__scrollwrap" tabindex="0" data-md-scrollfix>
|
||||
<div class="md-search-result" data-md-component="search-result">
|
||||
<div class="md-search-result__meta">
|
||||
Initializing search
|
||||
</div>
|
||||
<ol class="md-search-result__list" role="presentation"></ol>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
</nav>
|
||||
|
||||
</header>
|
||||
|
||||
<div class="md-container" data-md-component="container">
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<main class="md-main" data-md-component="main">
|
||||
<div class="md-main__inner md-grid">
|
||||
|
||||
|
||||
|
||||
<div class="md-sidebar md-sidebar--primary" data-md-component="sidebar" data-md-type="navigation" >
|
||||
<div class="md-sidebar__scrollwrap">
|
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<div class="md-sidebar__inner">
|
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|
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|
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|
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|
||||
<nav class="md-nav md-nav--primary" aria-label="Navigation" data-md-level="0">
|
||||
<label class="md-nav__title" for="__drawer">
|
||||
<a href="." title="Brittle Star Project" class="md-nav__button md-logo" aria-label="Brittle Star Project" data-md-component="logo">
|
||||
|
||||
|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M12 8a3 3 0 0 0 3-3 3 3 0 0 0-3-3 3 3 0 0 0-3 3 3 3 0 0 0 3 3m0 3.54C9.64 9.35 6.5 8 3 8v11c3.5 0 6.64 1.35 9 3.54 2.36-2.19 5.5-3.54 9-3.54V8c-3.5 0-6.64 1.35-9 3.54"/></svg>
|
||||
|
||||
</a>
|
||||
Brittle Star Project
|
||||
</label>
|
||||
|
||||
<ul class="md-nav__list" data-md-scrollfix>
|
||||
|
||||
|
||||
|
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|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item md-nav__item--active">
|
||||
|
||||
<input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<label class="md-nav__link md-nav__link--active" for="__toc">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Documentation
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
<span class="md-nav__icon md-icon"></span>
|
||||
</label>
|
||||
|
||||
<a href="." class="md-nav__link md-nav__link--active">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Documentation
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
|
||||
|
||||
|
||||
<nav class="md-nav md-nav--secondary" aria-label="Table of contents">
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<label class="md-nav__title" for="__toc">
|
||||
<span class="md-nav__icon md-icon"></span>
|
||||
Table of contents
|
||||
</label>
|
||||
<ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="#design-architecture-design" class="md-nav__link">
|
||||
<span class="md-ellipsis">
|
||||
|
||||
Design & architecture (/design)
|
||||
|
||||
</span>
|
||||
</a>
|
||||
|
||||
</li>
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="#api-reference-api" class="md-nav__link">
|
||||
<span class="md-ellipsis">
|
||||
|
||||
API reference (/api)
|
||||
|
||||
</span>
|
||||
</a>
|
||||
|
||||
</li>
|
||||
|
||||
</ul>
|
||||
|
||||
</nav>
|
||||
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="CONTRIBUTING/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Contribution Guidelines
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="DEVELOPMENT/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Development Guide
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="HPC/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
HPC Guide
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item md-nav__item--nested">
|
||||
|
||||
|
||||
|
||||
<input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_5" >
|
||||
|
||||
|
||||
<label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Api
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
<span class="md-nav__icon md-icon"></span>
|
||||
</label>
|
||||
|
||||
<nav class="md-nav" data-md-level="1" aria-labelledby="__nav_5_label" aria-expanded="false">
|
||||
<label class="md-nav__title" for="__nav_5">
|
||||
<span class="md-nav__icon md-icon"></span>
|
||||
|
||||
|
||||
Api
|
||||
|
||||
|
||||
</label>
|
||||
<ul class="md-nav__list" data-md-scrollfix>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="api/analysis/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Analysis & Plotting Tools
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="api/environment/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Brittle star environment
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="api/evaluation/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Checkpoint & Model Evaluation
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="api/simulation/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Simulation & Evaluation
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="api/tracking/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Tracking & Monitoring
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="api/training/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Training Models
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
</ul>
|
||||
</nav>
|
||||
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item md-nav__item--nested">
|
||||
|
||||
|
||||
|
||||
<input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_6" >
|
||||
|
||||
|
||||
<label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Design
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
<span class="md-nav__icon md-icon"></span>
|
||||
</label>
|
||||
|
||||
<nav class="md-nav" data-md-level="1" aria-labelledby="__nav_6_label" aria-expanded="false">
|
||||
<label class="md-nav__title" for="__nav_6">
|
||||
<span class="md-nav__icon md-icon"></span>
|
||||
|
||||
|
||||
Design
|
||||
|
||||
|
||||
</label>
|
||||
<ul class="md-nav__list" data-md-scrollfix>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="design/actor-critic/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Actor-Critic Architecture
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="design/communication/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Communication scheme (Message Passing)
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="design/controllers/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Levels of modularity and topology
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="design/input_action_spaces/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Input (state) and output (action) spaces
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="design/learning_algorithm/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Reinforcement Learning Algorithm
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="design/reward_function/" class="md-nav__link">
|
||||
|
||||
|
||||
|
||||
<span class="md-ellipsis">
|
||||
|
||||
|
||||
Reward function and observation space
|
||||
|
||||
|
||||
|
||||
</span>
|
||||
|
||||
|
||||
|
||||
</a>
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
|
||||
</ul>
|
||||
</nav>
|
||||
|
||||
</li>
|
||||
|
||||
|
||||
|
||||
</ul>
|
||||
</nav>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
<div class="md-sidebar md-sidebar--secondary" data-md-component="sidebar" data-md-type="toc" >
|
||||
<div class="md-sidebar__scrollwrap">
|
||||
<div class="md-sidebar__inner">
|
||||
|
||||
|
||||
<nav class="md-nav md-nav--secondary" aria-label="Table of contents">
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<label class="md-nav__title" for="__toc">
|
||||
<span class="md-nav__icon md-icon"></span>
|
||||
Table of contents
|
||||
</label>
|
||||
<ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="#design-architecture-design" class="md-nav__link">
|
||||
<span class="md-ellipsis">
|
||||
|
||||
Design & architecture (/design)
|
||||
|
||||
</span>
|
||||
</a>
|
||||
|
||||
</li>
|
||||
|
||||
<li class="md-nav__item">
|
||||
<a href="#api-reference-api" class="md-nav__link">
|
||||
<span class="md-ellipsis">
|
||||
|
||||
API reference (/api)
|
||||
|
||||
</span>
|
||||
</a>
|
||||
|
||||
</li>
|
||||
|
||||
</ul>
|
||||
|
||||
</nav>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
<div class="md-content" data-md-component="content">
|
||||
|
||||
<article class="md-content__inner md-typeset">
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<h1 id="documentation">Documentation</h1>
|
||||
<h2 id="design-architecture-design">Design & architecture (<code>/design</code>)</h2>
|
||||
<p>If you are interested in the "why did you do it like this?"</p>
|
||||
<ul>
|
||||
<li><a href="design/actor-critic/">Actor/critic architecture</a>: Description of the actor-critic pipeline.</li>
|
||||
<li><a href="design/communication/">Communication</a>: Message propagation, Nerve-Net style.</li>
|
||||
<li><a href="design/controllers/">Controllers</a>: Macroscopig brain toplogy, centralized, arm-level, segment-level.</li>
|
||||
<li><a href="design/input_action_spaces/">Input/output</a>: Description of the model's input and output.</li>
|
||||
<li><a href="design/learning_algorithm/">Learning algorithm</a>: RL techniques, i.e. PPO.</li>
|
||||
<li><a href="design/learning_algorithm/">Reward function</a>: Goals, fitness tracking, and reward structures.</li>
|
||||
</ul>
|
||||
<h2 id="api-reference-api">API reference (<code>/api</code>)</h2>
|
||||
<p>If you are interested in the "how do I use it?"</p>
|
||||
<ul>
|
||||
<li><a href="api/training/">Training</a>: How to configure and run experiments.</li>
|
||||
<li><a href="api/tracking/">Tracking & Monitoring</a>: Setting up WandB and TensorBoard to monitor runs.</li>
|
||||
<li><a href="api/simulation/">Simulation</a>: Visualizing and evaluating models.</li>
|
||||
<li><a href="api/environment/">Environment</a>: MuJoCo environment interaction and configuration.</li>
|
||||
<li><a href="api/analysis/">Analysis</a>: Comparing checkpoints and generating plots.</li>
|
||||
<li><a href="api/evaluation/">Evaluation</a>: Evaluating checkpoints and comparing fault tolerance.</li>
|
||||
</ul>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</article>
|
||||
</div>
|
||||
|
||||
|
||||
<script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
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||||
</div>
|
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</main>
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<footer class="md-footer">
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||||
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<div class="md-footer-meta md-typeset">
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<div class="md-footer-meta__inner md-grid">
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<div class="md-copyright">
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Made with
|
||||
<a href="https://squidfunk.github.io/mkdocs-material/" target="_blank" rel="noopener">
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||||
Material for MkDocs
|
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</a>
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</div>
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|
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</div>
|
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</div>
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</footer>
|
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|
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</div>
|
||||
<div class="md-dialog" data-md-component="dialog">
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<div class="md-dialog__inner md-typeset"></div>
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</div>
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|
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|
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|
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|
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<script id="__config" type="application/json">{"annotate": null, "base": ".", "features": [], "search": "assets/javascripts/workers/search.2c215733.min.js", "tags": null, "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": null}</script>
|
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|
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<script src="assets/javascripts/bundle.79ae519e.min.js"></script>
|
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|
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|
||||
</body>
|
||||
</html>
|
||||
1
search/search_index.json
Normal file
1
search/search_index.json
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3
sitemap.xml
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3
sitemap.xml
Normal file
|
|
@ -0,0 +1,3 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<urlset xmlns="http://www.sitemaps.org/schemas/sitemap/0.9">
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</urlset>
|
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BIN
sitemap.xml.gz
Normal file
BIN
sitemap.xml.gz
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Reference in a new issue