32 lines
2.2 KiB
XML
32 lines
2.2 KiB
XML
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 700 240" width="700" height="240">
|
|
<defs>
|
|
<marker id="ds-arr" markerWidth="8" markerHeight="6" refX="8" refY="3" orient="auto">
|
|
<path d="M0,0 L8,3 L0,6 Z" fill="#666"/>
|
|
</marker>
|
|
</defs>
|
|
<text x="350" y="22" text-anchor="middle" font-family="Arial, sans-serif" font-size="14" font-weight="bold" fill="#333">Behavioural Cloning: Distribution Shift (Compounding Error)</text>
|
|
|
|
<!-- Expert trajectory -->
|
|
<path d="M 60,180 C 150,180 200,180 280,170 C 360,160 450,140 600,120" fill="none" stroke="#27ae60" stroke-width="3"/>
|
|
<text x="610" y="115" text-anchor="start" font-family="Arial, sans-serif" font-size="10" font-weight="bold" fill="#27ae60">expert</text>
|
|
|
|
<!-- Learned policy trajectory - starts close, drifts -->
|
|
<path d="M 60,180 C 140,183 190,188 270,185 C 340,182 400,175 460,180 C 520,190 560,210 620,225" fill="none" stroke="#e74c3c" stroke-width="2.5" stroke-dasharray="6,3"/>
|
|
<text x="625" y="230" text-anchor="start" font-family="Arial, sans-serif" font-size="10" font-weight="bold" fill="#e74c3c">learned</text>
|
|
|
|
<!-- Small error annotations -->
|
|
<line x1="200" y1="180" x2="200" y2="184" stroke="#f39c12" stroke-width="1.5"/>
|
|
<text x="200" y="210" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#f39c12">small error</text>
|
|
|
|
<line x1="400" y1="152" x2="400" y2="177" stroke="#f39c12" stroke-width="1.5"/>
|
|
<text x="400" y="210" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#f39c12">error grows</text>
|
|
|
|
<line x1="560" y1="127" x2="560" y2="205" stroke="#e74c3c" stroke-width="1.5"/>
|
|
<text x="560" y="210" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#e74c3c">catastrophic drift</text>
|
|
|
|
<!-- Road edges -->
|
|
<line x1="50" y1="100" x2="640" y2="60" stroke="#ccc" stroke-width="1" stroke-dasharray="4,3"/>
|
|
<line x1="50" y1="230" x2="640" y2="230" stroke="#ccc" stroke-width="1" stroke-dasharray="4,3"/>
|
|
|
|
<text x="350" y="55" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#999">The policy visits states the expert never demonstrated → no training data → errors compound</text>
|
|
</svg> |
