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Adding results when trajectory in y is restricted to -0.5
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246 changes: 246 additions & 0 deletions
246
experiments/crazyflie/models/rl_models/ppo/mpsf_0.1_dm_t1/config.yaml
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algo: ppo | ||
algo_config: | ||
activation: tanh | ||
actor_lr: 0.001 | ||
clip_obs: 10 | ||
clip_param: 0.2 | ||
clip_reward: 10 | ||
critic_lr: 0.001 | ||
deque_size: 10 | ||
entropy_coef: 0.01 | ||
eval_batch_size: 10 | ||
eval_interval: 12500 | ||
eval_save_best: true | ||
filter_train_actions: true | ||
gae_lambda: 0.95 | ||
gamma: 0.99 | ||
hidden_dim: 128 | ||
log_interval: 12500 | ||
max_env_steps: 250000 | ||
max_grad_norm: 0.5 | ||
mini_batch_size: 256 | ||
norm_obs: false | ||
norm_reward: false | ||
num_checkpoints: 0 | ||
num_workers: 1 | ||
opt_epochs: 20 | ||
penalize_sf_diff: true | ||
rollout_batch_size: 1 | ||
rollout_steps: 1000 | ||
save_interval: 0 | ||
sf_penalty: 0.1 | ||
target_kl: 0.01 | ||
tensorboard: false | ||
training: true | ||
use_clipped_value: false | ||
use_gae: true | ||
use_safe_reset: true | ||
device: cpu | ||
kv_overrides: | ||
- sf_config.cost_function=one_step_cost | ||
- algo_config.filter_train_actions=True | ||
- algo_config.penalize_sf_diff=True | ||
- algo_config.use_safe_reset=True | ||
- algo_config.sf_penalty=0.1 | ||
- task_config.use_constraint_penalty=False | ||
output_dir: ./models/rl_models/ppo/mpsf_0.1_dm_t1 | ||
overrides: | ||
- ./config_overrides/crazyflie_track.yaml | ||
- ./config_overrides/ppo_crazyflie.yaml | ||
- ./config_overrides/nl_mpsc.yaml | ||
restore: null | ||
safety_filter: nl_mpsc | ||
seed: null | ||
sf_config: | ||
cost_function: one_step_cost | ||
decay_factor: 0.85 | ||
horizon: 10 | ||
integration_algo: rk4 | ||
mpsc_cost_horizon: 5 | ||
n_samples: 600 | ||
prior_info: | ||
prior_prop: null | ||
prior_prop_rand_info: null | ||
randomize_prior_prop: false | ||
q_lin: | ||
- 0.008 | ||
- 1.85 | ||
- 0.008 | ||
- 1.85 | ||
- 10 | ||
- 10 | ||
r_lin: | ||
- 2 | ||
use_acados: true | ||
use_terminal_set: false | ||
warmstart: true | ||
tag: temp | ||
task: quadrotor | ||
task_config: | ||
adversary_disturbance: null | ||
adversary_disturbance_offset: 0.0 | ||
adversary_disturbance_scale: 0.01 | ||
camera_view: | ||
- 5 | ||
- -40 | ||
- -40 | ||
- 0.5 | ||
- -1 | ||
- 0.5 | ||
constraint_penalty: -1 | ||
constraints: | ||
- active_dims: | ||
- 0 | ||
- 1 | ||
- 2 | ||
- 3 | ||
- 6 | ||
- 7 | ||
constrained_variable: state | ||
constraint_form: bounded_constraint | ||
lower_bounds: | ||
- -0.5 | ||
- -2 | ||
- -0.95 | ||
- -2 | ||
- -0.25 | ||
- -0.25 | ||
upper_bounds: | ||
- 0.95 | ||
- 2 | ||
- 0.95 | ||
- 2 | ||
- 0.25 | ||
- 0.25 | ||
- constrained_variable: input | ||
constraint_form: default_constraint | ||
cost: quadratic | ||
ctrl_freq: 500 | ||
disturbances: | ||
dynamics: | ||
- disturbance_func: white_noise | ||
std: 0.2 | ||
observation: | ||
- disturbance_func: white_noise | ||
std: 0.002 | ||
done_on_out_of_bound: true | ||
done_on_violation: false | ||
episode_len_sec: 15 | ||
gui: false | ||
inertial_prop: | ||
Ixx: 1.4e-05 | ||
Iyy: 1.4e-05 | ||
Izz: 2.17e-05 | ||
M: 0.0345 | ||
inertial_prop_randomization_info: | ||
Ixx: | ||
distrib: uniform | ||
high: 1.0e-06 | ||
low: -1.0e-06 | ||
Iyy: | ||
distrib: uniform | ||
high: 1.0e-06 | ||
low: -1.0e-06 | ||
Izz: | ||
distrib: uniform | ||
high: 1.0e-06 | ||
low: -1.0e-06 | ||
M: | ||
distrib: uniform | ||
high: 0.0025 | ||
low: -0.0025 | ||
info_in_reset: true | ||
init_state: | ||
init_p: 0 | ||
init_phi: 0 | ||
init_psi: 0 | ||
init_q: 0 | ||
init_r: 0 | ||
init_theta: 0 | ||
init_x: 0 | ||
init_x_dot: 0 | ||
init_y: 0 | ||
init_y_dot: 0 | ||
init_z: 1 | ||
init_z_dot: 0 | ||
init_state_randomization_info: | ||
init_p: | ||
distrib: uniform | ||
high: 0.5 | ||
low: -0.5 | ||
init_phi: | ||
distrib: uniform | ||
high: 0.25 | ||
low: -0.25 | ||
init_psi: | ||
distrib: uniform | ||
high: 0 | ||
low: 0 | ||
init_q: | ||
distrib: uniform | ||
high: 0.5 | ||
low: -0.5 | ||
init_r: | ||
distrib: uniform | ||
high: 0 | ||
low: 0 | ||
init_theta: | ||
distrib: uniform | ||
high: 0.25 | ||
low: -0.25 | ||
init_x: | ||
distrib: uniform | ||
high: 0.95 | ||
low: -0.5 | ||
init_x_dot: | ||
distrib: uniform | ||
high: 2 | ||
low: -2 | ||
init_y: | ||
distrib: uniform | ||
high: 0.95 | ||
low: -0.95 | ||
init_y_dot: | ||
distrib: uniform | ||
high: 2 | ||
low: -2 | ||
init_z: | ||
distrib: uniform | ||
high: 1 | ||
low: 1 | ||
init_z_dot: | ||
distrib: uniform | ||
high: 0 | ||
low: 0 | ||
norm_act_scale: 0.1 | ||
normalized_rl_action_space: false | ||
obs_goal_horizon: 0 | ||
physics: pyb | ||
pyb_freq: 1000 | ||
quad_type: 3 | ||
randomized_inertial_prop: true | ||
randomized_init: false | ||
rew_act_weight: 0.0001 | ||
rew_exponential: true | ||
rew_state_weight: 1.0 | ||
seed: 1337 | ||
task: traj_tracking | ||
task_info: | ||
num_cycles: 1 | ||
proj_normal: | ||
- 0 | ||
- 1 | ||
- 1 | ||
proj_point: | ||
- 0 | ||
- 0 | ||
- 0.5 | ||
trajectory_plane: xz | ||
trajectory_position_offset: | ||
- 0 | ||
- 1 | ||
trajectory_scale: 1 | ||
trajectory_type: figure8 | ||
use_constraint_penalty: false | ||
verbose: false | ||
use_gpu: false |
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experiments/crazyflie/models/rl_models/ppo/mpsf_0.1_dm_t1/logs/loss/approx_kl.log
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step,loss/approx_kl | ||
25000,0.015373280962618687 | ||
50000,0.005466316675301641 | ||
75000,0.007334801884523281 | ||
100000,0.008855676196981221 | ||
125000,0.007131252387383333 | ||
150000,0.016024184126096467 | ||
175000,0.02016867712372914 | ||
200000,0.014259486020697903 | ||
225000,0.027465859936395037 | ||
250000,0.018274522332164148 |
11 changes: 11 additions & 0 deletions
11
experiments/crazyflie/models/rl_models/ppo/mpsf_0.1_dm_t1/logs/loss/entropy_loss.log
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step,loss/entropy_loss | ||
25000,-1.9422575136025746 | ||
50000,-1.9314473847548168 | ||
75000,-1.718100424607595 | ||
100000,-1.6027250786622367 | ||
125000,-1.4119963268438975 | ||
150000,-1.5207090298334758 | ||
175000,-1.4677082558472954 | ||
200000,-1.476611814896266 | ||
225000,-1.4850205163160959 | ||
250000,-1.5199606776237486 |
11 changes: 11 additions & 0 deletions
11
experiments/crazyflie/models/rl_models/ppo/mpsf_0.1_dm_t1/logs/loss/policy_loss.log
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@@ -0,0 +1,11 @@ | ||
step,loss/policy_loss | ||
25000,-0.008487398050761605 | ||
50000,-0.00880940280480252 | ||
75000,-0.009933911955918398 | ||
100000,-0.005607683146801758 | ||
125000,-0.004757624400151668 | ||
150000,-0.003386248358056189 | ||
175000,-0.002005064096720082 | ||
200000,-0.005854441330401723 | ||
225000,0.004003693091684401 | ||
250000,-0.010062139415958049 |
11 changes: 11 additions & 0 deletions
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experiments/crazyflie/models/rl_models/ppo/mpsf_0.1_dm_t1/logs/loss/value_loss.log
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@@ -0,0 +1,11 @@ | ||
step,loss/value_loss | ||
25000,7.793937429077428 | ||
50000,13.893374047401428 | ||
75000,23.89295015323139 | ||
100000,19.281110565347028 | ||
125000,27.118762816218055 | ||
150000,12.193586144909709 | ||
175000,18.288683568642096 | ||
200000,11.609428511226813 | ||
225000,5.738791902706543 | ||
250000,4.967841796357956 |
11 changes: 11 additions & 0 deletions
11
...ments/crazyflie/models/rl_models/ppo/mpsf_0.1_dm_t1/logs/stat/ep_constraint_violation.log
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step,stat/ep_constraint_violation | ||
25000,309.5 | ||
50000,126.5 | ||
75000,100.5 | ||
100000,105.5 | ||
125000,219.0 | ||
150000,31.5 | ||
175000,34.5 | ||
200000,31.5 | ||
225000,18.5 | ||
250000,12.0 |
11 changes: 11 additions & 0 deletions
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experiments/crazyflie/models/rl_models/ppo/mpsf_0.1_dm_t1/logs/stat/ep_length.log
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@@ -0,0 +1,11 @@ | ||
step,stat/ep_length | ||
25000,375.0 | ||
50000,375.0 | ||
75000,375.0 | ||
100000,375.0 | ||
125000,375.0 | ||
150000,375.0 | ||
175000,375.0 | ||
200000,375.0 | ||
225000,375.0 | ||
250000,375.0 |
11 changes: 11 additions & 0 deletions
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experiments/crazyflie/models/rl_models/ppo/mpsf_0.1_dm_t1/logs/stat/ep_return.log
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@@ -0,0 +1,11 @@ | ||
step,stat/ep_return | ||
25000,98.29296866306379 | ||
50000,204.49077267324304 | ||
75000,231.51700314647044 | ||
100000,244.08289157053508 | ||
125000,204.9318586508445 | ||
150000,267.52341422784 | ||
175000,279.615252885838 | ||
200000,282.54841177443075 | ||
225000,291.78329345184795 | ||
250000,277.8975227464764 |
11 changes: 11 additions & 0 deletions
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experiments/crazyflie/models/rl_models/ppo/mpsf_0.1_dm_t1/logs/stat/ep_reward.log
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@@ -0,0 +1,11 @@ | ||
step,stat/ep_reward | ||
25000,0.26211458310150343 | ||
50000,0.5453087271286481 | ||
75000,0.6173786750572545 | ||
100000,0.6508877108547602 | ||
125000,0.546484956402252 | ||
150000,0.71339577127424 | ||
175000,0.7456406743622347 | ||
200000,0.7534624313984821 | ||
225000,0.7780887825382612 | ||
250000,0.7410600606572704 |
11 changes: 11 additions & 0 deletions
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...nts/crazyflie/models/rl_models/ppo/mpsf_0.1_dm_t1/logs/stat_eval/constraint_violation.log
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@@ -0,0 +1,11 @@ | ||
step,stat_eval/constraint_violation | ||
25000,313.8 | ||
50000,149.9 | ||
75000,77.5 | ||
100000,49.6 | ||
125000,81.0 | ||
150000,54.2 | ||
175000,14.0 | ||
200000,20.4 | ||
225000,6.3 | ||
250000,8.9 |
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