Structure of State Tensors#

This tutorial goes over the different types of states used in MotorNet, how they flow during simulation, how they are structured and what information they carry.

Overview of state flow at runtime

This illustration summarizes the State flow at runtime and is reproduced here for convenience.

states

Representation of the state flow at runtime in MotorNet.

Structure of the tutorial

I. Types of States
II. State flow at runtime
III. Dimensionality of State tensors

1. Plant States

2. Network States

IV. Initial States from Task objects
V. States as returned from Model forward pass