Closed jc-bao closed 8 months ago
Investigate the research problem.
Key results:
Progress
Render results update
run command python train.py --env dualquad2d --RMA
Record some revision:
render_fn
to render the dualquad2d env, revise env.reset
, controller.update_params
get_obs_paramsonly()
TODO: How to include the future state? In the form of a future trajectory?
@partial(jax.jit, static_argnums=(0,))
def get_obs_paramsonly(self, state: EnvStateDual2D, params: EnvParamsDual2D) -> chex.Array:
### TO BE REVISED
obs_elements = [
jnp.array(
[
# mass
# (params.m - params.m_mean)/params.m_std,
# # action_scale
(params.action_scale - params.action_scale_mean)/params.action_scale_std,
# # 1st order alpha
# (params.alpha_bodyrate - params.alpha_bodyrate_mean)/params.alpha_bodyrate_std,
# object mass
(params.mo - params.mo_mean)/params.mo_std,
# rope length
(params.l - params.l_mean) / params.l_std,
]
)
] # tmp:3
obs = jnp.concatenate(obs_elements, axis=-1)
return obs
Now I have cut some of the params. And this is to be revised.
Research Problem