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Andrew
2024-04-21 22:29:58 +02:00
parent eb6624bd86
commit 001d2dfa85
1 changed files with 4 additions and 4 deletions
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mjx/training_apg.ipynb
+4 -4
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@@ -559,7 +559,7 @@
" obs_list.append(state_info['last_action'])\n",
" # kinematic reference\n",
" kin_ref = self.kinematic_ref_qpos[jp.array(state_info['steps']%self.l_cycle, int)]\n",
" obs_list.append(kin_ref[7:]) # Gait schedule, per actuator.\n",
" obs_list.append(kin_ref[7:]) # First 7 indicies are fixed\n",
"\n",
" obs = jp.clip(jp.concatenate(obs_list), -100.0, 100.0)\n",
"\n",
@@ -1213,9 +1213,9 @@
" hidden_layer_sizes=(256, 128)\n",
")\n",
"\n",
"nets = make_networks_factory(observation_size=47,\n",
" action_size=12,\n",
" preprocess_observations_fn=running_statistics.normalize)\n",
"nets = make_networks_factory(observation_size=1, # Observation_size argument doesn't matter since it's only used for param init.\n",
" action_size=12,\n",
" preprocess_observations_fn=running_statistics.normalize)\n",
"\n",
"make_inference_fn = apg_networks.make_inference_fn(nets)\n",
"\n",