Tune gait cycle for phase-based

UBCMOCCA / SymmetricRL

Repo for "On Learning Symmetric Locomotion"

https://www.cs.ubc.ca/~van/papers/2019-MIG-symmetry/index.html

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Tune gait cycle for phase-based #5

Closed farzadab closed 5 years ago

farzadab commented 5 years ago

We need to add an artificial phase variable to the base environments (no imitation) in order to use the phase-based method. Since the gait cycle length is fixed it can be constraining for this method so we need to tune the cycle length using either:

[ ] hyper-parameter tuning
[x] looking at a learned motion and calculate the optimal cycle length based on that

farzadab commented 5 years ago

The current best controller that I have for Walker2D has a gait cycle of 0.8 so I'm using this for the phase-based gait cycle as well.