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v0.1
GitHub
3b866e9f
Use Clipped Gaussian (#649)
This PR makes the following changes: * Moves clipping of continuous control model into model itself. Output is now always [-1, 1]. * Internal model values are now clipped between [-3, 3] before being rescaled to [-1, 1] for output. * This improves training performance by providing a wider range of values within which the pdf of the gaussian can fall. Output of [-1, 1] is used to be more environment-creator friendly. * Fixes issue where epsilon was erroneously being used to reconstruct old probabilities during PPO update, leading to reduced learning performance. * Introduce ScaleAction() function within python to easily rescale values from [-1, 1] to arbitrary range. * Re-train all CC models using improved algorithm. All performance levels are equal or improved. In the case of Crawler, improvement is drastic. * Update documentation appropriately. * Made miscellaneous minor code style and optimization improvements within environments. |
7 年前 | |
|---|---|---|
| .. | ||
| bc | Use Clipped Gaussian (#649) | 7 年前 |
| ppo | Use Clipped Gaussian (#649) | 7 年前 |
| __init__.py | Python Testing & Image Inference Improvements (#353) | 7 年前 |
| buffer.py | Imitation Learning Helper (#371) | 7 年前 |
| models.py | Use Clipped Gaussian (#649) | 7 年前 |
| trainer.py | Hotfix 0.3.0c (#618) | 7 年前 |
| trainer_controller.py | Hotfix 0.3.0c (#618) | 7 年前 |