(self, sample_lists)
Run iteration of PILQR.
        Args:
            sample_lists: List of SampleList objects for each condition.
Run iteration of PILQR.
        Args:
            sample_lists: List of SampleList objects for each condition.
Run iteration of PILQR . Args : sample_lists : List of SampleList objects for each condition .
def iteration(self, sample_lists):
        """
        Run iteration of PILQR.
        Args:
            sample_lists: List of SampleList objects for each condition.
        """
        for m in range(self.M):
            self.cur[m].sample_list = sample_lists[m]

        # Update dynamics model using all samples.
        self._update_dynamics()

        self._update_step_size()  # KL Divergence step size.

        # Run inner loop to compute new policies.
        for _ in range(self._hyperparams['inner_iterations']):
            self._update_trajectories()
            self._advance_iteration_variables()
def iteration ( self , sample_lists ) : for m in range ( self . M ) : self . cur [ m ] . sample_list = sample_lists [ m ] # Update dynamics model using all samples. self . _update_dynamics ( ) self . _update_step_size ( ) # KL Divergence step size. # Run inner loop to compute new policies. for _ in range ( self . _hyperparams [ 'inner_iterations' ] ) : self . _update_trajectories ( ) self . _advance_iteration_variables ( )