def _get_input(self, state, rng):
    rng = self._get_rng(rng)
    ctrl_input = self._current_K.dot(state)
    sigma_explore_decay = (1 / math.pow((self._epoch_idx + 1), (1 / 3)))
    explore_input = ((self._sigma_explore * sigma_explore_decay) * rng.normal(size=(self._p,)))
    return (ctrl_input + explore_input)
def _get_input(self, state, rng):
    rng = self._get_rng(rng)
    ctrl_input = self._current_K.dot(state)
    sigma_explore_decay = (1 / math.pow((self._epoch_idx + 1), (1 / 3)))
    explore_input = ((self._sigma_explore * sigma_explore_decay) * rng.normal(size=(self._p,)))
    return (ctrl_input + explore_input)