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NeurIPS 2018: AI for Prosthetics Challenge

Reinforcement learning with musculoskeletal models


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Z Coordinates for Body Parts?

Posted by fwillett over 1 year ago

Looking at the ProstheticsEnv, it looks like only the X and Y position of the body parts are returned in the observation vector. Was this intended? Specifically, these lines are responsible:

        cur = []
        cur += state_desc["body_pos"][body_part][0:2]
        cur += state_desc["body_vel"][body_part][0:2]
        cur += state_desc["body_acc"][body_part][0:2]

The full 3D state of the system can still be inferred from the joint angles, but it seems like we should also have Z for the body part coordinates?

2

Posted by Lukasz_  over 1 year ago |  Quote

You have the freedom to arrange your own observation vector from the dictionary describing the state. Our implementation is just an example. In particular, the environment in the grader returns dictionaries as observations and not vectors. We will make it more explicit in the description of the challenge and probably remove the vector observation completely (providing some extra ‘helper’ functions)

Having said that, we didn’t intend to skip Z, thank you for catching this!