2d humanoid walker

Installation

TODO: Describe the installation process

Usage

TODO: Write usage instructions

Contributing

1. Fork it!
2. Create your feature branch: git checkout -b my-new-feature
3. Commit your changes: git commit -am 'Add some feature'
4. Push to the branch: git push origin my-new-feature
5. Submit a pull request :D

TODO

• make walker into an env, with reset, done etc
• display save loss curves... everything from info
• make diff env's, copy humanoidwalker, humanoid, learning2run etc
• display
  • display/save time for each agent
    • globals.step_counter
  • x progress
  • smile frown?
  • fix my frameskip
  • save checkpoints
• obstacles later on
  • balls
  • Allow user to chuck bouncing balls. Some can remain as obstacles
• load pretrained
• reward hacking
  • head high, feet on ground, legs crossing, moving forward, angles near 0

Credits

• The walker code is adapted from http://rednuht.org/genetic_walkers/
• DDPG code from metacar

Notes

• Training times:

  • Without node: Training: 52732.152ms
  • With node: Training: 17211.739ms
  • With cuda LoopTime: 12583.449ms

• tfjs-node-gpu needs python2 to compile

• crashes during training after a few hours due to mem leak

• is is slipping, what about with more friction?