You MPDF seems like the same as two single PDF ?

[quliang93]

Hi,
I really appreciate this work! However, I think the Multivariate(steer, throttle) Probability Distribution Function in this project works as the same way like Two Single Gaussian PDF for you don't consider the Rho between with steer and throttle ?

Codes in PPO in line 19:
self.cov_var = torch.full((self.action_dim, ), action_std_init)
self.cov_mat = torch.diag(self.cov_var).unsqueeze(dim=0). It's a diag matrix which consider the Rho is 0 ? And what the difference if you use two single Gaussian PDF for sampling the actions? Any ablation experiments ?

Best wishes !