[nupe, v, mse] = ccl_error_nupe(F, Fp) Calculate normalised unconstrained policy error (nUPE). This quantity is used to evaluate the unconstrained learnt null space policy Input: F True null space control commands Fp Learnt null space control commands Output: nupe Normalised unconstrained policy error (nUPE) v Variance mse Mean square error
0001 function [nupe, v, mse] = ccl_error_nupe(F, Fp) 0002 % [nupe, v, mse] = ccl_error_nupe(F, Fp) 0003 % 0004 % Calculate normalised unconstrained policy error (nUPE). This quantity is 0005 % used to evaluate the unconstrained learnt null space policy 0006 % 0007 % Input: 0008 % 0009 % F True null space control commands 0010 % Fp Learnt null space control commands 0011 % 0012 % Output: 0013 % nupe Normalised unconstrained policy error (nUPE) 0014 % v Variance 0015 % mse Mean square error 0016 0017 % CCL: A MATLAB library for Constraint Consistent Learning 0018 % Copyright (C) 2007 Matthew Howard 0019 % Contact: matthew.j.howard@kcl.ac.uk 0020 % 0021 % This library is free software; you can redistribute it and/or 0022 % modify it under the terms of the GNU Lesser General Public 0023 % License as published by the Free Software Foundation; either 0024 % version 2.1 of the License, or (at your option) any later version. 0025 % 0026 % This library is distributed in the hope that it will be useful, 0027 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0028 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 0029 % Lesser General Public License for more details. 0030 % 0031 % You should have received a copy of the GNU Library General Public 0032 % License along with this library; if not, write to the Free 0033 % Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 0034 0035 [d v mse] = ccl_error_nmse(F,Fp); 0036 nupe = sum(mse)/sum(v); 0037