mirror of
https://github.com/wassname/rl_2d_walker.js.git
synced 2026-09-09 11:33:20 +08:00
Increased strength, rebalanced torque and ranges
By using open humanoid env as reference and testing strengths.
This commit is contained in:
wassname
+1
-1
@@ -24,7 +24,7 @@
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<body>
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<div id="main_holder">
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<h1>Reinforcement Learning 2D Humanoid Walkers</h1>
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<h3 id="page_quote">"Play that funky music robot"</h3>
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<h3 id="page_quote">"Play that funky music, robot"</h3>
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<canvas id="main_screen" width="800" height="350"></canvas>
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<div id="generation_timer"><div id="generation_timer_bar"> </div></div>
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+39
-24
@@ -2,10 +2,17 @@
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// shape definitions are in the constructor
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function deg2rad(deg) {
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return deg/180*Math.PI
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}
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var Walker = function() {
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this.__constructor.apply(this, arguments);
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}
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const STRENGTH = 6
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Walker.prototype.__constructor = function(world) {
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this.world = globals.world;
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@@ -95,15 +102,18 @@ Walker.prototype.createTorso = function() {
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lower_torso.CreateFixture(this.fd);
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// torso joint
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// Note for more info see : https://github.com/openai/gym/wiki/Humanoid-V1
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// For 3d definition https://github.com/openai/gym/blob/master/gym/envs/mujoco/assets/humanoid.xml
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var jd = new b2.RevoluteJointDef();
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var position = upper_torso.GetPosition().Clone();
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position.y -= this.torso_def.upper_height/2;
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position.x -= this.torso_def.lower_width/3;
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jd.Initialize(upper_torso, lower_torso, position);
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jd.lowerAngle = -Math.PI/18;
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jd.upperAngle = Math.PI/10;
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jd.lowerAngle = deg2rad(-30);
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jd.upperAngle = deg2rad(75);
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jd.enableLimit = true;
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jd.maxMotorTorque = 250;
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jd.maxMotorTorque = 250 * STRENGTH;
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jd.motorSpeed = 0;
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jd.enableMotor = true;
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this.joints.push(this.world.CreateJoint(jd));
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@@ -139,10 +149,10 @@ Walker.prototype.createLeg = function() {
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position.y -= this.leg_def.femur_length/2;
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position.x += this.leg_def.femur_width/4;
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jd.Initialize(upper_leg, lower_leg, position);
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jd.lowerAngle = -1.4;
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jd.upperAngle = 0;
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jd.lowerAngle = deg2rad(-120);
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jd.upperAngle = deg2rad(-2);
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jd.enableLimit = true;
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jd.maxMotorTorque = 160;
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jd.maxMotorTorque = 160 * STRENGTH;
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jd.motorSpeed = 0;
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jd.enableMotor = true;
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this.joints.push(this.world.CreateJoint(jd));
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@@ -154,7 +164,7 @@ Walker.prototype.createLeg = function() {
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jd.lowerAngle = -Math.PI/5;
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jd.upperAngle = Math.PI/6;
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jd.enableLimit = true;
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jd.maxMotorTorque = 70;
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jd.maxMotorTorque = 70 * STRENGTH;
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jd.motorSpeed = 0;
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jd.enableMotor = true;
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this.joints.push(this.world.CreateJoint(jd));
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@@ -182,10 +192,10 @@ Walker.prototype.createArm = function() {
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var position = upper_arm.GetPosition().Clone();
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position.y -= this.arm_def.arm_length/2;
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jd.Initialize(upper_arm, lower_arm, position);
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jd.lowerAngle = 0;
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jd.upperAngle = Math.PI *4/5;
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jd.lowerAngle = deg2rad(0);
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jd.upperAngle = deg2rad(85);
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jd.enableLimit = true;
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jd.maxMotorTorque = 60;
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jd.maxMotorTorque = 100 * STRENGTH;
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jd.motorSpeed = 0;
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jd.enableMotor = true;
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this.joints.push(this.world.CreateJoint(jd));
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@@ -216,7 +226,7 @@ Walker.prototype.createHead = function() {
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jd.lowerAngle = -0.1;
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jd.upperAngle = 0.2;
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jd.enableLimit = true;
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jd.maxMotorTorque = 2;
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jd.maxMotorTorque = 2 * STRENGTH;
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jd.motorSpeed = 0;
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jd.enableMotor = true;
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this.joints.push(this.world.CreateJoint(jd));
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@@ -240,20 +250,20 @@ Walker.prototype.connectParts = function() {
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position = this.torso.upper_torso.GetPosition().Clone();
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position.y += this.torso_def.upper_height/2;
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jd.Initialize(this.torso.upper_torso, this.right_arm.upper_arm, position);
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jd.lowerAngle = -Math.PI/5*2;
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jd.upperAngle = Math.PI/4*3;
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jd.lowerAngle = deg2rad(-60);
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jd.upperAngle = deg2rad(125);
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jd.enableLimit = true;
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jd.maxMotorTorque = 120;
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jd.maxMotorTorque = 200 * STRENGTH;
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jd.motorSpeed = 0;
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jd.enableMotor = true;
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this.joints.push(this.world.CreateJoint(jd));
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var jd = new b2.RevoluteJointDef();
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jd.Initialize(this.torso.upper_torso, this.left_arm.upper_arm, position);
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jd.lowerAngle = -Math.PI/5*2;
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jd.upperAngle = Math.PI/4*3;
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jd.lowerAngle = deg2rad(-60);
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jd.upperAngle = deg2rad(125);
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jd.enableLimit = true;
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jd.maxMotorTorque = 120;
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jd.maxMotorTorque = 200 * STRENGTH;
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jd.motorSpeed = 0;
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jd.enableMotor = true;
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this.joints.push(this.world.CreateJoint(jd));
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@@ -263,20 +273,20 @@ Walker.prototype.connectParts = function() {
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position = this.torso.lower_torso.GetPosition().Clone();
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position.y -= this.torso_def.lower_height/2;
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jd.Initialize(this.torso.lower_torso, this.right_leg.upper_leg, position);
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jd.lowerAngle = -Math.PI/8*2;
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jd.upperAngle = Math.PI/7*2;
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jd.lowerAngle = deg2rad(-20);
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jd.upperAngle = deg2rad(120);
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jd.enableLimit = true;
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jd.maxMotorTorque = 250;
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jd.maxMotorTorque = 250 * STRENGTH;
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jd.motorSpeed = 0;
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jd.enableMotor = true;
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this.joints.push(this.world.CreateJoint(jd));
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var jd = new b2.RevoluteJointDef();
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jd.Initialize(this.torso.lower_torso, this.left_leg.upper_leg, position);
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jd.lowerAngle = -Math.PI/8*2;
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jd.upperAngle = Math.PI/7*2;
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jd.lowerAngle = deg2rad(-20);
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jd.upperAngle = deg2rad(120);
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jd.enableLimit = true;
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jd.maxMotorTorque = 250;
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jd.maxMotorTorque = 250 * STRENGTH;
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jd.motorSpeed = 0;
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jd.enableMotor = true;
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this.joints.push(this.world.CreateJoint(jd));
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@@ -335,7 +345,12 @@ Walker.prototype.simulationStep = function (motorSpeeds) {
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// reward copied from OpenAI Gym Humanoid Walker https://github.com/openai/gym/blob/master/gym/envs/mujoco/humanoid.py
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// also see https://github.com/AdamStelmaszczyk/learning2run/blob/master/osim-rl/osim/env/run.py#L67
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var velocity = this.torso.upper_torso.GetLinearVelocity().x
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// https://github.com/openai/gym/blob/master/gym/envs/mujoco/assets/humanoidstandup.xml
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var position = this.torso.upper_torso.GetPosition().x
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if (this.last_position === undefined) this.last_position = position
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var velocity = (position - this.last_position) * 40
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this.last_position = position
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// var velocity = this.torso.upper_torso.GetLinearVelocity().x
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lin_vel_reward = 6 * velocity
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// punish for using energy, squared
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