Limit observation to what is observable in reality

erdnaxe / kraby

Documentation and ressources of Kraby, an open-source hexapod robot

https://kraby.readthedocs.io

MIT License

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Closed erdnaxe closed 4 years ago

erdnaxe commented 4 years ago

To make observations more realistic, we may

[x] Remove the orientation from OneLeg environments,
[x] Figure out a way to specify a goal position for OneLeg environments without the extremity absolute position,

erdnaxe commented 4 years ago

Is the goal position is in observations, then it seems that the agent does not learn well.

erdnaxe commented 4 years ago

The issue is the batch size with the random goal. Increasing the batch size helps.