Predictor Net Updates

This release contains a preliminary version of our proposed predictor network architecture for predictive modeling of task structure. You can train such a model end to end via a command such as:

rosrun costar_models ctp_model_tool \
  --data_file rpy.npz \
  --model predictor \
  -e 1000 \
  --features multi \
  --batch_size 24  \
  --optimizer adam \
  --lr 0.001 \
  --upsampling conv_transpose \
  --use_noise true \
  --noise_dim 32  \
  --steps_per_epoch 300 \
  --dropout_rate 0.2 \
  --skip_connections 1

Which constructs an end-to-end trainable version of the network that can predict 4 hypotheses.