Monty.Frameworks.Models.MotorPolicySelectors (ExTbpMonty.Core v0.1.0)

Choosing which policy drives the body on a given step.

Mirrors tbp/monty/frameworks/models/motor_policy_selectors.py, which holds the selector interface and the two selectors Monty ships:

...MotorPolicySelectors.MotorPolicySelector — ported: the interface, call/5 answering a MotorPolicyResult and the selector it updated;
...MotorPolicySelectors.SinglePolicySelector — ported: one policy, given the highest-confidence goal of the step;
...MotorPolicySelectors.DistantPolicySelector — ported: routes goals that name an object to a jump policy, goals from a sensor module to a look-at policy, and everything else to a default.

A policy here is a five-argument function — (ctx, observations, state, percept, goal) — because that is the whole of what Monty's __call__ is. Holding the function rather than the class keeps a selector testable without a policy, and lets a policy be any module's function that answers a MotorPolicyResult.

Summary

Functions

from_config(config)

The selector a config describes.

highest_confidence_goal(goals)

The goal with the highest confidence, or the first of equal ones.

Functions

from_config(config)

@spec from_config(map()) ::
  Monty.Frameworks.Models.MotorPolicySelectors.MotorPolicySelector.t()

The selector a config describes.

policy_selector:
  _target_: tbp.monty.frameworks.models.motor_policy_selectors.DistantPolicySelector
  jump_to_goal:
    _target_: ...JumpToGoal
  look_at_goal:
    _target_: ...LookAtGoal
  default:
    _target_: ...InformedPolicyRandomWalk

A selector's policies are configs themselves, so they are built the same way it is — which is what makes the config the description of the body rather than a list of names to look up.

highest_confidence_goal(goals)

@spec highest_confidence_goal([Monty.Cmp.Goal.t()]) :: Monty.Cmp.Goal.t()

The goal with the highest confidence, or the first of equal ones.

Monty sorts by confidence descending and takes the head, which for equal confidences is the first: a stable sort is the whole of the tie-break. The goals must not be empty — a step with no goals has nothing to choose between, and the selectors ask that question before asking this one.