Sense Function - Artificial Intelligence for RoboticsYouTube↗  IA↗(long shot)
Education  21.9K views 12 likes 1 dislikes   19 Feb 2012
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Voglio rendere questo codice un po' più bello.
I want to make this a little bit more beautiful.
Introduco una variabile chiamata "world" (mondo)
I will introduce a variable called "world,"
e per ciascuna di queste 5 caselle, world specifica il colore della casella
and for each of the 5 grid cells, world specifies the color of the cell--
green (verde), red (rosso), red, green, green.
green, red, red, green, green.
Inoltre definisco che la misura Z è red (rosso).
Further, I define the measurement Z to be red.
Puoi definire una funzione, chiamata "sense", ossia l'aggiornamento dopo la misura
Can you define a function, called "sense," which is the measurement update,
che prende in input la distribuzione iniziale p
which takes as input the initial distribution p
e la misura Z e tutte le altre variabili globali
and the measurement Z and all the other global variables
e restituisce una distribuzione non normalizzata chiamata "Q" in cui Q riflette
and outputs a normalized distribution called "Q" in which Q reflects
il prodotto non-normalizzato della probabilità in input
the non-normalized product of our input probability,
che sarà 0.2 e così via,
which will be 0.2 and so on,
e il corrispondente pHit o pMiss a seconda
and the corresponding pHit or pMiss in accordance
che questi colori siano uguali oppure no.
to whether these colors over here agree or disagree?
Quando invoco sense(p, Z), mi aspetto di ottenere come risultato il vettore come prima,
When I call sense(p, Z), I expect to get the vector as output as before,
ma in forma di funzione.
but now in the form of a function.
Il motivo per cui mi piacerebbe avere una funzione è perché più avanti, mentre costruiamo il nostro localizzatore,
The reason I'd like to have a function here is because later on as we build our localizer
applicheremo questo metodo più e più volte ad ogni singola misura.
we will apply this to every single measurement over and over again.
La funzione dovrebbe in realtà rispondere a un p qualunque e Z qualunque,
This function should really respond to any arbitrary p and arbitrary Z,
o red o green, e restituirmi il Q non-normalizzato
either red or green, and give me the non-normalized Q,
che mi dà il vettore 0.04 o 0.12 e così via.
which gives me the vector 0.04 or 0.12 and so on and so on.
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