From d7fb525936e6b610749125543124461d1e6321cc Mon Sep 17 00:00:00 2001
From: Kaiyotech <93724202+Kaiyotech@users.noreply.github.com>
Date: Tue, 27 Sep 2022 09:51:44 -0400
Subject: [PATCH] change to zero mean on both kickoff and pinch, freeze actor.

---
 Constants_kickoff.py |  2 +-
 Constants_pinch.py   |  2 +-
 learner_kickoff.py   |  4 ++--
 learner_pinch.py     | 10 +++++-----
 worker_pinch.py      |  6 +++---
 5 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/Constants_kickoff.py b/Constants_kickoff.py
index 4ca06ab..af30a30 100644
--- a/Constants_kickoff.py
+++ b/Constants_kickoff.py
@@ -1,5 +1,5 @@
 FRAME_SKIP = 4
 TIME_HORIZON = 4  # horizon in seconds
 T_STEP = FRAME_SKIP / 120   # real time per rollout step
-ZERO_SUM = False
+ZERO_SUM = True
 STEP_SIZE = 1_000_000
diff --git a/Constants_pinch.py b/Constants_pinch.py
index ec19fa3..46b7d32 100644
--- a/Constants_pinch.py
+++ b/Constants_pinch.py
@@ -1,6 +1,6 @@
 FRAME_SKIP = 4
 TIME_HORIZON = 4  # horizon in seconds
 T_STEP = FRAME_SKIP / 120   # real time per rollout step
-ZERO_SUM = False
+ZERO_SUM = True
 STEP_SIZE = 1_000_000
 DB_NUM = 1
diff --git a/learner_kickoff.py b/learner_kickoff.py
index 8241b7c..6637a5c 100644
--- a/learner_kickoff.py
+++ b/learner_kickoff.py
@@ -39,7 +39,7 @@
     fps = 120 / frame_skip
     gamma = np.exp(np.log(0.5) / (fps * half_life_seconds))
     config = dict(
-        actor_lr=1e-4,
+        actor_lr=0,
         critic_lr=1e-4,
         n_steps=STEP_SIZE,
         batch_size=100_000,
@@ -128,7 +128,7 @@
         disable_gradient_logging=True,
     )
 
-    alg.load("kickoff_saves/Opti_1664201562.2237294/Opti_1640/checkpoint.pt")
+    alg.load("kickoff_saves/Opti_1664218733.7430687/Opti_1800/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/learner_pinch.py b/learner_pinch.py
index f043c5c..2d16f84 100644
--- a/learner_pinch.py
+++ b/learner_pinch.py
@@ -39,7 +39,7 @@
     fps = 120 / frame_skip
     gamma = np.exp(np.log(0.5) / (fps * half_life_seconds))
     config = dict(
-        actor_lr=1e-4,
+        actor_lr=0,
         critic_lr=1e-4,
         n_steps=Constants_pinch.STEP_SIZE,
         batch_size=100_000,
@@ -79,11 +79,11 @@
                                                               concede_w=-10,
                                                               velocity_pb_w=0.025,
                                                               velocity_bg_w=0.5,
-                                                              acel_ball_w=3,
-                                                              punish_low_touch_w=-0.1,  # increase later
+                                                              acel_ball_w=5,
+                                                              punish_low_touch_w=-0.5,  # increase later
                                                               team_spirit=1,
                                                               cons_air_touches_w=1,
-                                                              jump_touch_w=1.5,
+                                                              jump_touch_w=1,
                                                               wall_touch_w=1,
                                                               ),
                                         lambda: CoyoteAction(),
@@ -128,7 +128,7 @@
         disable_gradient_logging=True,
     )
 
-    alg.load("pinch_saves/Opti_1664165982.0115736/Opti_2070/checkpoint.pt")
+    alg.load("pinch_saves/Opti_1664215027.7179081/Opti_2550/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/worker_pinch.py b/worker_pinch.py
index f7cd902..54b11be 100644
--- a/worker_pinch.py
+++ b/worker_pinch.py
@@ -24,11 +24,11 @@
                         concede_w=-10,
                         velocity_pb_w=0.025,
                         velocity_bg_w=0.5,
-                        acel_ball_w=3,
-                        punish_low_touch_w=-0.1,  # increase later
+                        acel_ball_w=5,
+                        punish_low_touch_w=-0.5,  # increase later
                         team_spirit=1,
                         cons_air_touches_w=1,
-                        jump_touch_w=1.5,
+                        jump_touch_w=1,
                         wall_touch_w=1)
     frame_skip = Constants_pinch.FRAME_SKIP
     fps = 120 // frame_skip