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I suspect that I might be having a similar issue with using the cem and random_shooting methods. I receive the error:
Traceback (most recent call last):
File "XX/trajax/tests/optimizers_test.py", line 850, in testCEM1
X_opt, U_opt, obj, = optimizers.random_shooting(
File "XX/trajax/trajax/optimizers.py", line 1160, in random_shooting
controls = gaussian_samples(random_key, mean, stdev, control_low,
ValueError: Non-hashable static arguments are not supported, as this can lead to unexpected cache-misses. Static argument (index 5) of type <class 'dict'> for function gaussian_samples is non-hashable.
when trying to use random_shooting. I will investigate and make a PR for this, if I can fix it quickly enough.
I'll attach the method that I added to OptimizersTest to demonstrate this behavior. testCEM1.txt
Hi, I noticed there are some problems with running CEM.
Here the last index should be 7:
trajax/trajax/optimizers.py
Line 753 in 67fd5ed
(similar in random shooting:
trajax/trajax/optimizers.py
Line 818 in 67fd5ed
Default hyperparameters should be frozendict
https://github.com/google/trajax/blob/main/trajax/optimizers.py#L685-L692
Would you like a PR for this?
Regards,
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