wassname/rl_2d_walker.js
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wassname
2018-12-11 15:33:51 +08:00
parent 10a2182755
commit bc4fd3a93d
3 changed files with 90 additions and 90 deletions
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scripts/view_log.ipynb
+80 -80
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File diff suppressed because one or more lines are too long
src/js/game.js
+3 -3
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@@ -72,9 +72,9 @@ class HeadlessGame {
desiredActionStddev: 0.2,
minActionStddev: 0.001,
initialStddev: 0.4,
initialStddev: 0.6,
adoptionCoefficient: 1.01,
noiseDecay: 0.999,
noiseDecay: 0.99,
actorFirstLayerSize: 128,
actorSecondLayerSize: 64,
@@ -82,7 +82,7 @@ class HeadlessGame {
criticFirstLayerASize: 128,
criticSecondLayerSize: 64,
nbEpochs: 700,
nbEpochs: 500,
nbEpochsCycle: 10,
nbTrainSteps: 100,
maxStep: 1800,
src/js/walker.js
+7 -7
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@@ -10,7 +10,7 @@ const {
Renderer
} = require('./renderer')
const STRENGTH = 2
const STRENGTH = 1.7
class Walker {
constructor(world, floor, config) {
@@ -134,16 +134,16 @@ class Walker {
var otherFixture = contact.m_fixtureA.m_body.m_userData == "floor" ? contact.m_fixtureB : contact.m_fixtureA
if (otherFixture.m_body === self.right_leg.foot) {
// TODO let the agent act to grip or not. Only if palm or foot down?
self.right_leg.frictionJoint.maxForce = 1000 * self.grips[0]
self.right_leg.frictionJoint.maxForce = 0 * self.grips[0]
self.right_leg.frictionJoint.maxTorque = 1000 * self.grips[0]
} else if (otherFixture.m_body === self.left_leg.foot) {
self.left_leg.frictionJoint.maxForce = 1000 * self.grips[1]
self.left_leg.frictionJoint.maxForce = 0 * self.grips[1]
self.left_leg.frictionJoint.maxTorque = 1000 * self.grips[1]
} else if (otherFixture.m_body == self.right_arm.hand) {
self.right_arm.frictionJoint.maxForce = 1000 * self.grips[2]
self.right_arm.frictionJoint.maxForce = 0 * self.grips[2]
self.right_arm.frictionJoint.maxTorque = 1000 * self.grips[2]
} else if (otherFixture.m_body === self.left_arm.hand) {
self.left_arm.frictionJoint.maxForce = 1000 * self.grips[3]
self.left_arm.frictionJoint.maxForce = 0 * self.grips[3]
self.left_arm.frictionJoint.maxTorque = 1000 * self.grips[3]
}
}
@@ -211,10 +211,10 @@ class Walker {
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(-35 / 2);
jd.lowerAngle = deg2rad(-10 / 2);
jd.upperAngle = deg2rad(30 / 2);
jd.enableLimit = true;
jd.maxMotorTorque = 150 * STRENGTH;
jd.maxMotorTorque = 10 * STRENGTH;
jd.motorSpeed = 0;
jd.enableMotor = true;
var j = this.world.CreateJoint(jd)