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HorizonRobotics / SocialRobot

Apache License 2.0
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Multi task_group support for grocery ground env #68

Closed Jialn closed 5 years ago

Jialn commented 5 years ago

multi task_group support for grocery ground with an example second task of icub auxiliary task

Jialn commented 5 years ago

Changes for the last commit 1c18bfb: Added action cost, action cost was added to main class, we can set it through gin configuration. Using some of the tricks from roboschool humanoid flagrun. Fix typo.

For the training example, the agent still can not reach the ball after 3M env steps. But can walk a few step to get close to the ball, and if we fix the position of ball the agent can walk to it.

We can check in this PR in now. I'll open another PR for some reward shaping for steering and update the training example .