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natolambert / dynamicslearn

Working directory for dynamics learning for experimental robots.
MIT License
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Integrate SAC #10

Open beomjin-lee opened 4 years ago

natolambert commented 4 years ago

RE: utils.preprocess_obs(obs), this is a common tool used to remove angles from the state space. E.g. if you have a quadrotor spinning in yaw a lot, the angle can increase about 360deg and reset back to zero. The preprocessor could add states that are sin(yaw) and cos(yaw) to mitigate that issue.

In general the removals look on the right track. Let me know when it runs!

natolambert commented 4 years ago

Any more progress on this? The changes to master should make interfacing with real data easier.