Post-Training Qualitative Modules

We have provided the following post-training qualitative modules for the trained muSim controller.

Kinematics Visualization

To visualize the kinematics for the training and testing conditions, see visualize_kinematics.ipynb

PCA

To visualize the uSim controller’s population trajectories in PCA subspace, run:

python ./Analysis/collective_pca.py

Fixed-Point Analysis

Clone the fixed-point-finder in ./Analysis, https://github.com/mattgolub/fixed-point-finder

Run the following command in terminal:

python ./Analysis/find_fp.py

The fixed point analysis is based on the original implementation: https://github.com/mattgolub/fixed-point-finder. Refer to the github repo for further information.

Rotational Dynamics

See and run ./Analysis/jpca_nusim.m

Important for jPCA analysis:

Make sure that ./Analyses/jPCA_ForDistribution is included in the MATLAB path alongwith all sub-directories
Make sure that muSim ./test_data folder is included in the MATLAB path. ./test_data folder is where the jpca data is saved during muSim test