Closed jc-bao closed 1 year ago
Test case: fixed mass to 0.01, fixed the constant disturbance force to 0.8 times object mass*gravity, fixed damping parameter to 0. | |
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Make sure the drone is initialized at the centre, then it can hover here.
tensor([-0.5308, 0.7817])
[ 0.0605, -0.9488, 0.3043]
-> Not stable for x and theta[0.2593, -0.7368, -0.3238]
-> Not stable for $v_x$. (Which aligns with our observation. )Final error is large | Cannot fully converge to zero along y | speed quickly converge to zero during the training |
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Meanwhile, the PID controller can steer the agent to zero quite precisely.
Conclusion: RL-related issue.
Current reward function regarding the distance to the centre:
pi | vis | plot |
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Experterror=0.027 |
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Vanilla error=0.106 |
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