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More rewards joystick + reward structure organization #35

Merged
merged 25 commits into from
Oct 7, 2024
Merged

More rewards joystick + reward structure organization #35

merged 25 commits into from
Oct 7, 2024

Commits on Nov 19, 2023

  1. fixed some typos and implemented a torque cost reward scheme

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    mginoya committed Nov 19, 2023
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Commits on Feb 1, 2024

  1. saving progress while I migrate systems on computer with 3070

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    mginoya committed Feb 1, 2024
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Commits on Feb 11, 2024

  1. custom numeric data in xml is no longer a part of scene but rather agent

    @mginoya
    mginoya committed Feb 11, 2024
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  2. got aant to work a little better with lin vel tracking

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    mginoya committed Feb 11, 2024
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  3. making some more progress on joystick control - some weird kinks need… 

    … to be worked out
    @mginoya
    mginoya committed Feb 11, 2024
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Commits on Feb 17, 2024

  1. first implementation of waypoint control - model is overfitting somehow?

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    mginoya committed Feb 17, 2024
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Commits on Apr 14, 2024

  1. debugging why waypoint reward doesn't work with humanoid model now - … 

    …similar to aant, it overfits?
    @mginoya
    mginoya committed Apr 14, 2024
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Commits on Aug 6, 2024

  1. some progress - still a bit confusing

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    mginoya committed Aug 6, 2024
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Commits on Aug 18, 2024

  1. added some debugging prints in one_physics_step script

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    mginoya committed Aug 18, 2024
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Commits on Aug 25, 2024

  1. saving progress... something is odd about position and waypoint reward

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    mginoya committed Aug 25, 2024
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Commits on Aug 26, 2024

  1. single waypoint reward is now working ... turned out to be a local mi… 

    …nima thing?
    @mginoya
    mginoya committed Aug 26, 2024
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  2. cleaning up a little

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    mginoya committed Aug 26, 2024
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Commits on Aug 28, 2024

  1. commiting so I can branch off from here and revert to joystick contro… 

    …l for further experimentation
    @mginoya
    mginoya committed Aug 28, 2024
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Commits on Aug 29, 2024

  1. added a stand still reward - still need to test it

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    mginoya committed Aug 29, 2024
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  2. fixed typo

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    mginoya committed Aug 29, 2024
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  3. a few more typos

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    mginoya committed Aug 29, 2024
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Commits on Aug 30, 2024

  1. joystick command seems to be working - need to add some nice to haves… 

    … next
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    mginoya committed Aug 30, 2024
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Commits on Sep 5, 2024

  1. saving progress to perform a cleanup and maybe try to update brax ver… 

    …sion?
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    mginoya committed Sep 5, 2024
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Commits on Sep 6, 2024

  1. added simple tool to provide summary of network architecture being used

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    mginoya committed Sep 6, 2024
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Commits on Sep 20, 2024

  1. added Reward class that will allow us to pass in reward functions via… 

    … experiment scripts
    @mginoya
    mginoya committed Sep 20, 2024
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Commits on Oct 5, 2024

  1. new way to do rewards is now working - more cleanup to follow

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    mginoya committed Oct 5, 2024
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Commits on Oct 6, 2024

  1. removing unused imports in aant.py

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    mginoya committed Oct 6, 2024
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  2. removed ununsed hyper-parameters going into aant.py

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    mginoya committed Oct 6, 2024
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Commits on Oct 7, 2024

  1. debugged, training now works and all experiment files have been updated

    @mginoya
    mginoya committed Oct 7, 2024
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  2. removed A1 model and experiments because it will be easier to re-impl… 

    …ement than modify
    @mginoya
    mginoya committed Oct 7, 2024
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