More rewards joystick + reward structure organization#35

Merged

mginoya merged 25 commits intomainfrom more-rewards-joystick

Oct 7, 2024

+903-737

Commits on Nov 19, 2023

fixed some typos and implemented a torque cost reward scheme
mginoya
committed

Commits on Feb 1, 2024

saving progress while I migrate systems on computer with 3070
mginoya
committed

Commits on Feb 11, 2024

custom numeric data in xml is no longer a part of scene but rather agent
mginoya
committed
got aant to work a little better with lin vel tracking
mginoya
committed
making some more progress on joystick control - some weird kinks need to be worked out
mginoya
committed

Commits on Feb 17, 2024

first implementation of waypoint control - model is overfitting somehow?
mginoya
committed

Commits on Apr 14, 2024

debugging why waypoint reward doesn't work with humanoid model now - similar to aant, it overfits?
mginoya
committed

Commits on Aug 6, 2024

some progress - still a bit confusing
mginoya
committed

Commits on Aug 18, 2024

added some debugging prints in one_physics_step script
mginoya
committed

Commits on Aug 25, 2024

saving progress... something is odd about position and waypoint reward
mginoya
committed

Commits on Aug 26, 2024

single waypoint reward is now working ... turned out to be a local minima thing?
mginoya
committed
cleaning up a little
mginoya
committed

Commits on Aug 28, 2024

commiting so I can branch off from here and revert to joystick control for further experimentation
mginoya
committed

Commits on Aug 29, 2024

added a stand still reward - still need to test it
mginoya
committed
fixed typo
mginoya
committed
a few more typos
mginoya
committed

Commits on Aug 30, 2024

joystick command seems to be working - need to add some nice to haves next
mginoya
committed

Commits on Sep 5, 2024

saving progress to perform a cleanup and maybe try to update brax version?
mginoya
committed

Commits on Sep 6, 2024

added simple tool to provide summary of network architecture being used
mginoya
committed

Commits on Sep 20, 2024

added Reward class that will allow us to pass in reward functions via experiment scripts
mginoya
committed

Commits on Oct 5, 2024

new way to do rewards is now working - more cleanup to follow
mginoya
committed

Commits on Oct 6, 2024

removing unused imports in aant.py
mginoya
committed
removed ununsed hyper-parameters going into aant.py
mginoya
committed

Commits on Oct 7, 2024