Fixed bug with adding model points with no prior

Robotic-Decision-Making-Lab · Nov 27, 2023 · ccec230 · ccec230
1 parent 80c95d3
commit ccec230
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Showing 2 changed files with 7 additions and 5 deletions.
diff --git a/examples/GaussianProcess/User2DGP.py b/examples/GaussianProcess/User2DGP.py
@@ -56,7 +56,7 @@ def f_sq(x, data=None):
     #gp = gr.PreferenceGP(gr.RBF_kern(0.2,0.5)*gr.linear_kern(0.2, 0.1, 0))
     #gp = gr.PreferenceGP(gr.linear_kern(0.3, 0.1, 0.0))
     gp = gr.PreferenceGP(gr.RBF_kern(1.0, 1.0), pareto_pairs=True, \
-                        use_hyper_optimization=False)
+                        use_hyper_optimization=False, normalize_positive=True)
     gp.add_prior(bounds=np.array(bounds))
 
 
@@ -99,7 +99,7 @@ def f_sq(x, data=None):
     ax = plt.axes(projection='3d')
     #ax.contour3D(X, Y, Z_pred, 50, cmap='binary')
     ax.plot_wireframe(X, Y, Z, color= 'black')
-    ax.plot_wireframe(X, Y, UCB_pred, color= 'red')
+    #ax.plot_wireframe(X, Y, UCB_pred, color= 'red')
     ax.plot_surface(X, Y, Z_pred, rstride=1, cstride=1, cmap='magma', edgecolor='none')
     ax.scatter(gp.X_train[:,0], gp.X_train[:,1], gp.F)
     ax.set_xlabel('x')

diff --git a/src/rdml_graph/gaussian_process/PreferenceModel.py b/src/rdml_graph/gaussian_process/PreferenceModel.py
@@ -232,9 +232,11 @@ def add(self, X, y, type='relative_discrete', training_sigma=0):
             if self.y_train[self.probit_idxs['relative_discrete']] is None:
                 self.y_train[self.probit_idxs['relative_discrete']] = np.array(pairs)
             else:
-                self.y_train[self.probit_idxs['relative_discrete']] = \
-                    np.append(self.y_train[self.probit_idxs['relative_discrete']], \
-                                np.array(pairs), axis=0)
+                # only add pairs if there is any pareto pairs to add.
+                if len(pairs) > 0:
+                    self.y_train[self.probit_idxs['relative_discrete']] = \
+                        np.append(self.y_train[self.probit_idxs['relative_discrete']], \
+                                    np.array(pairs), axis=0)
         # end if for pareto_pairs