robot_namespace is the name of the robot you want to have simulated (eg. raph, leo). start_pose tells the simulator where the robot starts from. There was an error ...
$$\begin{align*} \phi(x, \pi_\theta(x)) := \begin{cases} \pi_\theta(x) & V(x) \geq \epsilon \\\ \pi_{\text{safe}}(x) & \text{otherwise} \end{cases} \quad \text{(Least ...
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