wassname/rl_2d_walker.js
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wassname
2018-12-12 10:55:50 +08:00
parent 5e2e3230ea
commit b6572f2bda
1 changed files with 8 additions and 7 deletions
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src/js/walker.js
+8 -7
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@@ -10,7 +10,8 @@ const {
Renderer
} = require('./renderer')
const STRENGTH = 1.7
const STRENGTH = 1.7*2
const SPEED = 20
class Walker {
constructor(world, floor, config) {
@@ -90,14 +91,14 @@ class Walker {
this.bd.position.x += randf(-10, 10)
this.bd.type = b2.Body.b2_dynamicBody;
this.bd.linearDamping = 0;
this.bd.angularDamping = 20; // decay in force/ air friction
this.bd.angularDamping = 10; // decay in force/ air friction
this.bd.allowSleep = true;
this.bd.awake = true;
this.fd = new b2.FixtureDef();
this.fd.density = this.density;
this.fd.restitution = 0.1; // bounciness
this.fd.friction = 10000000; // only on contact (grip)
this.fd.friction = 100000000; // only on contact (grip)
this.fd.shape = new b2.PolygonShape();
this.fd.filter.groupIndex = -1;
@@ -572,7 +573,7 @@ class Walker {
simulationPreStep(motorSpeeds) {
// act
for (var k = 0; k < this.joints.length; k++) {
this.joints[k].SetMotorSpeed(motorSpeeds[k] * 20); // action can range from -3 to 3, radians per second
this.joints[k].SetMotorSpeed(motorSpeeds[k] * SPEED); // action can range from -3 to 3, radians per second
}
for (let i = 0; i < motorSpeeds.length - this.joints.length; i++) {
this.grips[i] = motorSpeeds[i] > 0
@@ -615,7 +616,7 @@ class Walker {
// reward for keeping head up, compared to feet
var mean_foot_height = (this.left_leg.foot.GetPosition().y + this.right_leg.foot.GetPosition().y) / 2
var head_height_reward = (this.head.head.GetPosition().y - mean_foot_height) * 400; // it's head should be above it's feet 2*(-0.25-2)
var head_height_reward = (this.head.head.GetPosition().y - mean_foot_height) * 500; // 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;
@@ -633,7 +634,7 @@ class Walker {
if (this.last_position === undefined) this.last_position = position
var velocity = (position - this.last_position) * 100
this.last_position = position
var lin_vel_reward = 3 * velocity
var lin_vel_reward = 2 * velocity
// punish for using energy, squared
var quad_power_cost = -0.05 * this.joints.map(j => j.GetJointSpeed()).reduce((sum, speed) => sum + speed ** 2)
@@ -652,7 +653,7 @@ class Walker {
quad_joint_angle_cost,
bonus_happiness,
head_height_reward,
leg_switch_reward
// leg_switch_reward
}
this.reward = Object.values(this.rewards).reduce((tot, v) => tot + v, 0) / 3