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utiasDSL / gym-pybullet-drones

PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control
https://utiasDSL.github.io/gym-pybullet-drones/
MIT License
1.22k stars 357 forks source link

Some questions about the logger in test_multiagent/test_singleagent.py #76

Open MullerLin opened 2 years ago

MullerLin commented 2 years ago

Hi, thanks to your wonderful project, I am working on training some RL tasks on the project, and I use test_multiagent.py/test_singleagent.py to see the training results, like how the drone act. I find that the final plotted data curves from logger are clipped and normalized because the logger logs the data from obs , the data after clipping and normalizing. It made me confused at first when I tried to trained the drone to fly some certain position, and I modified data on the curve by multiplying the normalization coefficient.

I am wondering whether there are some reasons to show the clipped and normalized data on final curve in the two test.py, like helping analyze or some other reasons.

Thanks a lot.

JacopoPan commented 2 years ago

Hi @MullerLin,

glad you enjoy the project! The clipping/normalization of abs and actions obviously is intended to help the stock RL agents in stable-baselines3 to more easily learn. There isn't any specific reason for the plots to follow the same clipping/normalization other than the simplicity of using the data as they come out of the aviary environment class.

MullerLin commented 2 years ago

Hi @MullerLin,

glad you enjoy the project! The clipping/normalization of abs and actions obviously is intended to help the stock RL agents in stable-baselines3 to more easily learn. There isn't any specific reason for the plots to follow the same clipping/normalization other than the simplicity of using the data as they come out of the aviary environment class.

Thanks a lot for your reply! It helps me to understand the project better!