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bug fix for stomp sampling

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This commit is contained in:
Balakumar Sundaralingam
2023-12-19 10:00:18 -08:00
parent 256227b0b6
commit c09d94908d
1 changed files with 15 additions and 1 deletions
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16
src/curobo/util/sample_lib.py
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@@ -510,7 +510,21 @@ class HaltonGenerator:
def gaussian_transform( def gaussian_transform(
uniform_samples: torch.Tensor, proj_mat: torch.Tensor, i_mat: torch.Tensor, variance: float uniform_samples: torch.Tensor, proj_mat: torch.Tensor, i_mat: torch.Tensor, variance: float
): ):
gaussian_halton_samples = proj_mat * torch.erfinv(2 * uniform_samples - 1) """Compute a guassian transform of uniform samples.
Args:
uniform_samples (torch.Tensor): uniform samples in the range [0,1].
proj_mat (torch.Tensor): _description_
i_mat (torch.Tensor): _description_
variance (float): _description_
Returns:
_type_: _description_
"""
# since erfinv returns inf when value is -1 or +1, we scale the input to not have
# these values.
changed_samples = 1.99 * uniform_samples - 0.99
gaussian_halton_samples = proj_mat * torch.erfinv(changed_samples)
i_mat = i_mat * variance i_mat = i_mat * variance
gaussian_halton_samples = torch.matmul(gaussian_halton_samples, i_mat) gaussian_halton_samples = torch.matmul(gaussian_halton_samples, i_mat)
return gaussian_halton_samples return gaussian_halton_samples