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Adding updated results with stricter constraints
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pizarrob committed Nov 7, 2023
1 parent 21e3d86 commit c050e7f
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Showing 722 changed files with 54,172 additions and 54,169 deletions.
110 changes: 55 additions & 55 deletions experiments/mpsc/models/rl_models/quadrotor_3D/track/ppo/mpsf/config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ algo_config:
critic_lr: 0.001
deque_size: 10
entropy_coef: 0.01
eval_batch_size: 10
eval_batch_size: 25
eval_interval: 10000
eval_save_best: true
filter_train_actions: true
Expand Down Expand Up @@ -69,20 +69,20 @@ sf_config:
prior_prop_rand_info: null
randomize_prior_prop: false
q_lin:
- 0.001
- 0.06
- 0.001
- 0.06
- 0.00025
- 80
- 0.1
- 0.006
- 3.0
- 1.0e-05
- 8.0
- 1.0e-05
- 0.75
- 1
- 1
- 1
- 1.0e-08
- 1.0e-08
- 0.01
- 0.5
- 0.5
- 0.5
r_lin:
- 90
- 10000
slack_cost: 250
soften_constraints: true
use_acados: true
Expand All @@ -99,31 +99,31 @@ task_config:
- constrained_variable: state
constraint_form: default_constraint
lower_bounds:
- -0.95
- -2
- -0.475
- -2
- 0.525
- -2
- -0.5
- -0.5
- -0.5
- -2
- -2
- -1
- -2
- -1
- 0
- -1
- -0.2
- -0.2
- -0.2
- -1
- -1
- -1
upper_bounds:
- 0.95
- 2
- 0
- 2
- 0.95
- 2
- 0.5
- 0.5
- 0.5
- 2
- 1
- 2
- 1
- 2
- 1
- 0.2
- 0.2
- 0.2
- 1
- 1
- 1
- constrained_variable: input
constraint_form: default_constraint
lower_bounds:
Expand Down Expand Up @@ -167,52 +167,52 @@ task_config:
init_state_randomization_info:
init_p:
distrib: uniform
high: 1
low: -1
high: 2
low: -2
init_phi:
distrib: uniform
high: 0.2
low: -0.2
high: 0.5
low: -0.5
init_psi:
distrib: uniform
high: 0.2
low: -0.2
high: 0.5
low: -0.5
init_q:
distrib: uniform
high: 1
low: -1
high: 2
low: -2
init_r:
distrib: uniform
high: 1
low: -1
high: 2
low: -2
init_theta:
distrib: uniform
high: 0.2
low: -0.2
high: 0.5
low: -0.5
init_x:
distrib: uniform
high: 2
low: -2
high: 0.95
low: -0.95
init_x_dot:
distrib: uniform
high: 1
low: -1
init_y:
distrib: uniform
high: 2
low: -2
init_y:
distrib: uniform
high: 0
low: -0.475
init_y_dot:
distrib: uniform
high: 1
low: -1
high: 2
low: -2
init_z:
distrib: uniform
high: 2
low: 0.3
high: 0.95
low: 0.525
init_z_dot:
distrib: uniform
high: 1
low: -1
high: 2
low: -2
norm_act_scale: 0.1
normalized_rl_action_space: true
obs_goal_horizon: 1
Expand Down
200 changes: 100 additions & 100 deletions experiments/mpsc/models/rl_models/quadrotor_3D/track/ppo/mpsf/logs/loss/approx_kl.log
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Original file line number Diff line number Diff line change
@@ -1,101 +1,101 @@
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