wassname/rl_2d_walker.js
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wassname
2018-11-27 10:46:28 +08:00
parent 3151094832
commit 95b912c8d6
1 changed files with 29 additions and 15 deletions
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js/walker.js
+29 -15
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@@ -6,7 +6,7 @@ function deg2rad(deg) {
return deg/180*Math.PI
}
const STRENGTH = 6
const STRENGTH = 2
var Walker = function() {
this.__constructor.apply(this, arguments);
@@ -109,11 +109,12 @@ Walker.prototype.createTorso = function() {
position.y -= this.torso_def.upper_height/2;
position.x -= this.torso_def.lower_width/3;
jd.Initialize(upper_torso, lower_torso, position);
jd.lowerAngle = deg2rad(-30);
jd.upperAngle = deg2rad(75);
jd.lowerAngle = deg2rad(-30/2);
jd.upperAngle = deg2rad(75 / 2);
jd.user_data = 'torso_joint'
jd.enableLimit = true;
jd.maxMotorTorque = 250 * STRENGTH;
jd.maxMotorTorque = 200 * STRENGTH;
jd.motorSpeed = 0;
jd.enableMotor = true;
this.joints.push(this.world.CreateJoint(jd));
@@ -226,7 +227,7 @@ Walker.prototype.createHead = function() {
jd.lowerAngle = -0.1;
jd.upperAngle = 0.2;
jd.enableLimit = true;
jd.maxMotorTorque = 2 * STRENGTH;
jd.maxMotorTorque = 4 * STRENGTH;
jd.motorSpeed = 0;
jd.enableMotor = true;
this.joints.push(this.world.CreateJoint(jd));
@@ -276,7 +277,7 @@ Walker.prototype.connectParts = function() {
jd.lowerAngle = deg2rad(-10);
jd.upperAngle = deg2rad(80);
jd.enableLimit = true;
jd.maxMotorTorque = 250 * STRENGTH;
jd.maxMotorTorque = 350 * STRENGTH;
jd.motorSpeed = 0;
jd.enableMotor = true;
this.joints.push(this.world.CreateJoint(jd));
@@ -286,7 +287,7 @@ Walker.prototype.connectParts = function() {
jd.lowerAngle = deg2rad(-10);
jd.upperAngle = deg2rad(80);
jd.enableLimit = true;
jd.maxMotorTorque = 250 * STRENGTH;
jd.maxMotorTorque = 350 * STRENGTH;
jd.motorSpeed = 0;
jd.enableMotor = true;
this.joints.push(this.world.CreateJoint(jd));
@@ -337,21 +338,25 @@ Walker.prototype.simulationPreStep = function (motorSpeeds) {
}
Walker.prototype.simulationStep = function (motorSpeeds) {
this.steps ++
this.steps++
/* score/reward */
// reward copied from OpenAI Gym Humanoid Walker https://github.com/openai/gym/blob/master/gym/envs/mujoco/humanoid.py
// also see https://github.com/AdamStelmaszczyk/learning2run/blob/master/osim-rl/osim/env/run.py#L67
// https://github.com/openai/gym/blob/master/gym/envs/mujoco/assets/humanoidstandup.xml
// reward for keeping head up
var head_height_reward = this.head.head.GetPosition().y * 2; // it's head should be above it's feet 2*(-0.25-2)
var head_height_reward = this.head.head.GetPosition().y * 8; // it's head should be above it's feet 2*(-0.25-2)
// reward for moving one leg beyond the other (stepping)
var left_leg_forward = this.right_leg.foot.GetPosition().x > this.left_leg.foot.GetPosition().x;
var leg_switch_reward = (left_leg_forward!=this.last_left_left_forward)? 1:0
var leg_switch_reward = (left_leg_forward != this.last_left_left_forward) ? 1 : 0
// cost for moving joints to unnatural positions
var joint_angle_cost = - 0.02 * this.joints.map(j=>j.GetJointAngle()-j.GetReferenceAngle()).reduce((o,v)=>o+v*v,0) // - 0.02 * (0 - 20)
var jointFractionMovement = j => j.GetJointAngle() > 0 ? j.GetJointAngle() / (j.GetUpperLimit() + 1) : j.GetJointAngle() / (j.GetLowerLimit() + 1)
var quad_joint_angle_cost = - 0.004 * this.joints.map(j => jointFractionMovement(j) * 1.2)
.reduce((o, v) => o + v * v, 0)
quad_joint_angle_cost = Math.max(quad_joint_angle_cost, -10)
// reward for moving rights
var position = this.torso.upper_torso.GetPosition().x
@@ -362,28 +367,37 @@ Walker.prototype.simulationStep = function (motorSpeeds) {
// punish for using energy, squared
var quad_ctrl_cost = -0.01 * this.joints.map(j => j.GetJointSpeed()).reduce((sum, speed) => sum + speed ** 2)
quad_ctrl_cost = Math.max(quad_ctrl_cost, -10)
var bonus_happiness = 5 // May they find happiness for all their days
// we don't have data on external forces, so I will just punish for contact with the ground
http://blog.sethladd.com/2011/09/box2d-collision-damage-for-javascript.html
// However we could use a listener or calc force
// var listener = new b2.ContactListener()
// listener.PostSolve = function (contact, impulse) {
// if (contact) console.log(contact)
// }
// globals.world.SetContactListener(listener)
// }
var contacts = this.bodies.map(b => b.GetContactList()).filter(b => b).length
quad_impact_cost = -Math.min(contacts - 4, 10)/8
quad_impact_cost = -Math.min(contacts - 4, 10)/3
this.rewards = {
lin_vel_reward,
quad_ctrl_cost,
quad_impact_cost,
joint_angle_cost,
quad_joint_angle_cost,
bonus_happiness,
head_height_reward,
leg_switch_reward
}
this.reward = Object.values(this.rewards).reduce((tot,v)=>tot+v, 0) * 10
this.reward = Object.values(this.rewards).reduce((tot,v)=>tot+v, 0)
this.last_left_left_forward = left_leg_forward
var info = {
x: this.steps,
episodeSteps: this.steps,
reward:this.reward,
position,
...this.rewards