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Reinforcement learning environments with musculoskeletal models
By Stanford Neuromuscular Biomechanics Laboratory
almost 3 years ago
I am trying to understand then observation vector and I found a few strange issues.
Could you clarify if there is a misunderstanding on my side?
1) If my interpretation of the observation vector is correct, the rewards seems to be calculated on the y delta:
I am assuming that positions are in the format [X,Y,Z]:
The pelvis position is set here:
And the reward is calculated here (using Y coordinate):
Is this a bug or where is my mistake?
2) pelvis X speed seem to be the opposite to what I expected. Positive X speed means that the skeleton is moving backwards…
3) left and right (knee, hip, ankle) seem to be swapped at least with respect to what is represented in the visualization.
I am using the code in getFootL as a reference. Unless I made mistake, when the right foot is high, I get a high value in the left one.
Thanks a lot for putting this together! It is a lot of fun!
almost 3 years ago |
Hi, sorry for the late answer!
1) The position of the pelvis is in the format [rotation, X, Y]. Z direction is blocked. Rotation is around Z axis.
2) I think it relates again to assumption you mentioned in one and here you are talking about pelvis rotation.
3) That one is indeed a mistake, I didn’t pay enough attention since they are symmetric.
Thanks for pointing these out and for participation in the challenge.
Btw. You can find more about the model here