(self, algorithm, policy_titles=False)
Setup iteration data column titles: iteration, average cost, and for
        each condition the mean cost over samples, step size, linear Guassian
        controller entropies, and initial/final KL divergences for BADMM.
Setup iteration data column titles: iteration, average cost, and for
        each condition the mean cost over samples, step size, linear Guassian
        controller entropies, and initial/final KL divergences for BADMM.
Setup iteration data column titles : iteration average cost and for each condition the mean cost over samples step size linear Guassian controller entropies and initial / final KL divergences for BADMM .
def _output_column_titles(self, algorithm, policy_titles=False):
        """
        Setup iteration data column titles: iteration, average cost, and for
        each condition the mean cost over samples, step size, linear Guassian
        controller entropies, and initial/final KL divergences for BADMM.
        """
        self.set_output_text(self._hyperparams['experiment_name'])
        if isinstance(algorithm, AlgorithmMDGPS) or isinstance(algorithm, AlgorithmBADMM):
            condition_titles = '%3s | %8s %12s' % ('', '', '')
            itr_data_fields  = '%3s | %8s %12s' % ('itr', 'avg_cost', 'avg_pol_cost')
        else:
            condition_titles = '%3s | %8s' % ('', '')
            itr_data_fields  = '%3s | %8s' % ('itr', 'avg_cost')
        for m in range(algorithm.M):
            condition_titles += ' | %8s %9s %-7d' % ('', 'condition', m)
            itr_data_fields  += ' | %8s %8s %8s' % ('  cost  ', '  step  ', 'entropy ')
            if isinstance(algorithm, AlgorithmBADMM):
                condition_titles += ' %8s %8s %8s' % ('', '', '')
                itr_data_fields  += ' %8s %8s %8s' % ('pol_cost', 'kl_div_i', 'kl_div_f')
            elif isinstance(algorithm, AlgorithmMDGPS):
                condition_titles += ' %8s' % ('')
                itr_data_fields  += ' %8s' % ('pol_cost')
        self.append_output_text(condition_titles)
        self.append_output_text(itr_data_fields)
def _output_column_titles ( self , algorithm , policy_titles = False ) : self . set_output_text ( self . _hyperparams [ 'experiment_name' ] ) if isinstance ( algorithm , AlgorithmMDGPS ) or isinstance ( algorithm , AlgorithmBADMM ) : condition_titles = '%3s | %8s %12s' % ( '' , '' , '' ) itr_data_fields = '%3s | %8s %12s' % ( 'itr' , 'avg_cost' , 'avg_pol_cost' ) else : condition_titles = '%3s | %8s' % ( '' , '' ) itr_data_fields = '%3s | %8s' % ( 'itr' , 'avg_cost' ) for m in range ( algorithm . M ) : condition_titles += ' | %8s %9s %-7d' % ( '' , 'condition' , m ) itr_data_fields += ' | %8s %8s %8s' % ( '  cost  ' , '  step  ' , 'entropy ' ) if isinstance ( algorithm , AlgorithmBADMM ) : condition_titles += ' %8s %8s %8s' % ( '' , '' , '' ) itr_data_fields += ' %8s %8s %8s' % ( 'pol_cost' , 'kl_div_i' , 'kl_div_f' ) elif isinstance ( algorithm , AlgorithmMDGPS ) : condition_titles += ' %8s' % ( '' ) itr_data_fields += ' %8s' % ( 'pol_cost' ) self . append_output_text ( condition_titles ) self . append_output_text ( itr_data_fields )