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Roboy / gym-roboy

Pip package gym environment for deep roboy control
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Reward based on joint_vel #18

Closed tomasruizt closed 5 years ago

BarisYazici commented 5 years ago

Can you elaborate the objective of this pull request?

tomasruizt commented 5 years ago

@BarisYazici yes! The idea is to encourage the agent to stand still around the target joint_angles. For that we introduce a _GOAL_JOINT_VEL = [0, 0, 0], as objective on top of the goal_joint_angle and augment the reward with ajoint_vel_penalty = _l2_distance(current_state.joint_vel, goal_state.joint_vel). The meat of this change is in thecompute_reward()` method.

BarisYazici commented 5 years ago

I think we will have a couple of approaches to the reward function. Can we make the reward interchangeable?

tomasruizt commented 5 years ago

I like that idea a lot. What do you propose? Maybe Flags in the constructor? MsjEnv(...., joint_vel_penalty=True, tendon_vel_penalty=True, quadratic_loss=True, ...)

tomasruizt commented 5 years ago

@BarisYazici The joint_vel_penalty can be turned on and off at construction time now.