kill the quick first flip resest, not working, try the Opti Reset shot.

Kaiyotech · Dec 6, 2022 · 294766a · 294766a
1 parent f1ece29
commit 294766a
Show file tree

Hide file tree

Showing 4 changed files with 20 additions and 18 deletions.
diff --git a/Constants_flip_reset.py b/Constants_flip_reset.py
@@ -2,5 +2,5 @@
 TIME_HORIZON = 4  # horizon in seconds
 T_STEP = FRAME_SKIP / 120   # real time per rollout step
 ZERO_SUM = False
-STEP_SIZE = 250_000
+STEP_SIZE = 1_000_000  # 250_000
 DB_NUM = 6
diff --git a/learner_flip_reset.py b/learner_flip_reset.py
@@ -51,10 +51,10 @@
         ent_coef=0.01,
     )
 
-    run_id = "flip_reset_run7.12"
+    run_id = "flip_reset_run7.14_fast_shot"
     wandb.login(key=os.environ["WANDB_KEY"])
     logger = wandb.init(dir="./wandb_store",
-                        name="Flip_reset_7.12",
+                        name="Flip_reset_7.14_fast_shot",
                         project="Opti",
                         entity="kaiyotech",
                         id=run_id,
@@ -77,20 +77,21 @@
                                                                  tick_skip=Constants_flip_reset.FRAME_SKIP,
                                                                  team_size=3, extra_boost_info=False),
                                         lambda: ZeroSumReward(zero_sum=Constants_flip_reset.ZERO_SUM,
-                                                              flip_reset_w=2,
+                                                              flip_reset_w=1,
                                                               wall_touch_w=.2,
                                                               flip_reset_help_w=0,
-                                                              double_tap_w=10,
+                                                              double_tap_w=0,
                                                               flip_reset_goal_w=10,
                                                               concede_w=-10,
                                                               velocity_bg_w=0,
-                                                              has_flip_reset_vbg_w=0.2,
+                                                              has_flip_reset_vbg_w=0,
                                                               velocity_pb_w=0.01,
                                                               jump_touch_w=0,
                                                               inc_flip_reset_w=0,
-                                                              prevent_chain_reset=True,
-                                                              quick_flip_reset_w=4,
-                                                              quick_flip_reset_norm_sec=1.5,
+                                                              prevent_chain_reset=False,
+                                                              quick_flip_reset_w=0,
+                                                              quick_flip_reset_norm_sec=0,
+                                                              exit_velocity_w=2,
                                                               ),
                                         lambda: CoyoteAction(),
                                         save_every=logger.config.save_every * 3,
@@ -144,7 +145,7 @@
         disable_gradient_logging=True,
     )
 
-    alg.load("flip_reset_saves/Opti_1670338972.1363978/Opti_9000/checkpoint.pt")
+    alg.load("flip_reset_saves/Opti_1670123638.7511785/Opti_12350/checkpoint.pt")
     alg.agent.optimizer.param_groups[0]["lr"] = logger.config.actor_lr
     alg.agent.optimizer.param_groups[1]["lr"] = logger.config.critic_lr
 

diff --git a/setter.py b/setter.py
@@ -143,7 +143,7 @@ def __init__(self, mode):
                         ),
                         # (0, 0, 0, 0.5, 0, 0.5)
                         # (0, 0, 0, 1, 0, 0, 0)
-                        (0.35, 0.05, 0.05, 0.35, 0.1, 0, 0.05)
+                        (0.5, 0.05, 0.05, 0.35, 0.05, 0, 0)
                     )
                 )
 

diff --git a/worker_flip_reset.py b/worker_flip_reset.py
@@ -19,20 +19,21 @@
 
 if __name__ == "__main__":
     rew = ZeroSumReward(zero_sum=Constants_flip_reset.ZERO_SUM,
-                        flip_reset_w=2,
+                        flip_reset_w=1,
                         wall_touch_w=.2,
                         flip_reset_help_w=0,
-                        double_tap_w=10,
+                        double_tap_w=0,
                         flip_reset_goal_w=10,
                         concede_w=-10,
                         velocity_bg_w=0,
-                        has_flip_reset_vbg_w=0.2,
-                        velocity_pb_w=0.01,
+                        has_flip_reset_vbg_w=0,
+                        velocity_pb_w=0,
                         jump_touch_w=0,
                         inc_flip_reset_w=0,
-                        prevent_chain_reset=True,
-                        quick_flip_reset_w=4,
-                        quick_flip_reset_norm_sec=1.5,
+                        prevent_chain_reset=False,
+                        quick_flip_reset_w=0,
+                        quick_flip_reset_norm_sec=0,
+                        exit_velocity_w=2,
                         )
     frame_skip = Constants_flip_reset.FRAME_SKIP
     fps = 120 // frame_skip