heatmap diffusion convolution confusion #1741
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Co-authored-by: Alexander Schmidt <[email protected]>
oleflb
requested changes
Mar 14, 2025
| @@ -70,7 +71,7 @@ impl SearchSuggestor { | |||
| } | |||
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| pub fn cycle(&mut self, mut context: CycleContext) -> Result<MainOutputs> { | |||
| self.update_heatmap(&context); | |||
| let _ = self.update_heatmap(&context); | |||
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why do you choose to silently ignore the error?
| @@ -107,7 +108,28 @@ impl SearchSuggestor { | |||
| } | |||
| } | |||
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| self.heatmap.map *= 1.0 - context.search_suggestor_configuration.heatmap_decay_factor; | |||
| let kernel: Array2<f32> = 1.0 | |||
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extract kernel creation to new function
| self.heatmap.map = | ||
| self.heatmap | ||
| .map | ||
| .conv(&kernel, ConvMode::Same, PaddingMode::Replicate)?; |
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are you sure PaddingMode::Zero isn't more appropriate here?
| self.heatmap | ||
| .map | ||
| .conv(&kernel, ConvMode::Same, PaddingMode::Replicate)?; | ||
| self.heatmap.map /= self.heatmap.map.sum() + f32::EPSILON; |
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instead of adding f32::EPSILON, initialize the heatmap with 1.0 / number_of_grid_cells. Then the heatmap can never sum up to 0.0
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| [1.0, 1.0, 1.0], | ||
| [ | ||
| 1.0, | ||
| context | ||
| .search_suggestor_configuration | ||
| .heatmap_convolution_kernel_weight, | ||
| 1.0 | ||
| ], | ||
| [1.0, 1.0, 1.0] |
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I find it much more intuitive to have the kernel be [[a, a, a], [a, 1-a, a], [a, a, a]] with a in [0, 1]
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Why? What?
changes heatmap decay in single cells to diffusion.
Ideas for Next Iterations (Not This PR)
decay based on viewing direction (#1676)
How to Test
Behavior Sim
or let robot play and look at heatmap