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dfki-ric-underactuated-lab / double_pendulum

Dual purpose Acrobot and Pendubot Platform
BSD 3-Clause "New" or "Revised" License
33 stars 22 forks source link

Real Hardware stage submission #8

Closed turcato-niccolo closed 1 year ago

fwiebe commented 1 year ago

Hi @turcato-niccolo , thanks for submitting the scripts and changes from the hardware experiments! Could you please address the following remarks before I merge the files?

  1. data/policies/design_C.0/model_3.1/acrobot/MC-PILCO/policy.np and data/policies/design_C.0/model_3.1/pendubot/MC-PILCO/policy.np Could you place the policies in

    • data/policies/design_C.1/model1.0/acrobot/MC-PILCO/
    • data/policies/design_C.1/model1.0/pendubot/MC-PILCO/

    The real hardware during the experiments was labeled 'design_C.1' in the repository.

  2. leaderboard/real_hardware/acrobot/src_data/mcpilco/video.gif and leaderboard/real_hardware/pendubot/src_data/mcpilco/video.gif Could you remove the videos? We will add them to the leaderboard repository and link them from there. This way we try to keep the size of the main repository small.

  3. leaderboard/simulation/acrobot/con_random_sum_sin.py and leaderboard/simulation/acrobot/con_random_wgn.py The exploration controllers are not necessary in the leaderboard folders. Please remove them from there.

  4. leaderboard/simulation/pendubot/con_mcpilco.py In the simulation leaderboard script for the pendubot you added the butter filter to the controller. Do you want the leaderboard results recomputed with that filter? Or was it added there by accident?

  5. Could you add the scripts that you used for the final evaluation of you controller to the experiments folder?

The rest looks good! Thanks again :)

turcato-niccolo commented 1 year ago

Hi @fwiebe

I applied the fixes, but in leaderboard/real_hardware/pendubot/exp_parameters.py and leaderboard/real_hardware/acrobot/exp_parameters.py model and design are set to:

design = "design_C.0"
model = "model_3.1"

should they also be changed to

design = "design_C.1"
model = "model_1.0"

?

fwiebe commented 1 year ago

Thanks for making the changes. I merged the pull request now :)

Yes, in leaderboard/real_hardware/pendubot/exp_parameters.py and leaderboard/real_hardware/acrobot/exp_parameters.py the design and model are incorrect. Thanks for pointing that out. I will fix it.

fwiebe commented 1 year ago

Your controller is now listed on the real hardware leaderboards for acrobot and pendubot.