|
|
|
|
|
|
|
- Body velocity matches goal velocity. (normalized between (0,1)) |
|
|
|
- Head direction alignment with goal direction. (normalized between (0,1)) |
|
|
|
- Behavior Parameters: |
|
|
|
- Vector Observation space: 238 variables corresponding to position, rotation, |
|
|
|
- Vector Observation space: 243 variables corresponding to position, rotation, |
|
|
|
velocity, and angular velocities of each limb, along with goal direction. |
|
|
|
- Vector Action space: (Continuous) Size of 39, corresponding to target |
|
|
|
rotations and strength applicable to the joints. |
|
|
|
|
|
|
|
- Recommended Minimum: 3 |
|
|
|
- Recommended Maximum: 20 |
|
|
|
- Benchmark Mean Reward for `WalkerDynamic`: 2500 |
|
|
|
- Benchmark Mean Reward for `WalkerDynamicVariableSpeed`: 1200 |
|
|
|
- Benchmark Mean Reward for `WalkerDynamicVariableSpeed`: 2500 |
|
|
|
- Benchmark Mean Reward for `WalkerStaticVariableSpeed`: 3000 |
|
|
|
- Benchmark Mean Reward for `WalkerStaticVariableSpeed`: 3500 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
GitHub