search

HorizonRobotics / SocialRobot

Apache License 2.0
71 stars 20 forks source link

Work In Progress: Add new task to grocery #64

Closed Jialn closed 5 years ago

Jialn commented 5 years ago

Changes:

  1. Refactor grocery task related code: Moved some task-specific functions to the teacher task. The grocery is more general purpose now. Like task-specific initial setup, random moving objects, and define the what models should be added to obs.
  2. Added a ball task. A task to kick a ball to the goal. Simple reward shaping is used to guide the agent run to the ball firstly.
Jialn commented 5 years ago

Bug exits. Found the agent unstable (wheel disappeared) in one experiment after about 3 million env steps. Might be caused by the changes for fixing the bouncing problem.

Jialn commented 5 years ago

Bug Fixed. Curiosity task should be removed. I can not find the agent doing anything meaningful after training with ICM. We'll close this and open a new PR.