From 2c3de5dec72a0e93b91bc12c82d6d5568836598c Mon Sep 17 00:00:00 2001 From: NewtonDynamics Date: Tue, 24 Sep 2024 21:01:03 -0700 Subject: [PATCH] most stable deep learnig robot yet,still not goo since it does not learn to orient the head correctly. I will try a conditional reward, only reward position if the head is already oriented, for now this is quite good. --- .../applications/media/ndRobotArmReach.dnn | 550 +++++---- .../media/ndRobotArmReach_actor.dnn | 550 +++++---- .../media/ndRobotArmReach_critic.dnn | 1038 ++++++++--------- .../demos/ndAdvancedIndustrialRobot.cpp | 2 +- 4 files changed, 1068 insertions(+), 1072 deletions(-) diff --git a/newton-4.00/applications/media/ndRobotArmReach.dnn b/newton-4.00/applications/media/ndRobotArmReach.dnn index 51951021c..2f31b4c74 100644 --- a/newton-4.00/applications/media/ndRobotArmReach.dnn +++ b/newton-4.00/applications/media/ndRobotArmReach.dnn @@ -4,74 +4,74 @@ layersCount 10 layer ndBrainLayerLinear { - inputs 20 + inputs 26 ouputs 64 - bias -0.0261218 -0.00622672 0.00929473 0.0143314 -0.0119302 -0.0160916 -0.0125058 -0.00571876 0.0168802 0.00340836 -0.00889735 -0.00731295 -0.00947887 -0.0117588 0.0100768 0.00278687 -0.00779732 0.00318876 -0.0388596 0.0104971 0.00206456 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ouputs 1 - bias 0.173692 + bias 0.0903709 weights - row_0 1.87364 3.67212 -1.31637 -1.91235 -0.979041 1.95418 1.51939 2.69179 -2.54886 -0.957119 2.06152 1.48931 1.49445 1.80429 1.52419 -2.96391 -1.71679 2.95841 1.61494 2.82795 -2.08628 1.78623 -1.0127 2.25779 -1.13024 2.45658 2.04014 2.28978 2.32818 -1.86281 1.52095 1.50092 1.42692 1.75648 0.700804 -2.61881 -1.82019 -2.28629 1.52088 1.44292 1.30496 1.50533 -1.39885 1.75811 -2.5178 -1.12408 -3.49127 -1.78254 -1.85459 3.37266 -2.31202 -1.32251 -1.82758 1.59183 1.25775 1.50681 1.67695 -1.42704 2.149 2.96114 -2.78094 3.20343 1.53825 -1.58727 1.3479 -1.50228 1.16929 1.75135 -2.26064 -1.64305 -5.15763 2.32276 2.422 -1.55772 2.04084 -2.93204 1.33978 2.11248 2.15658 -1.6059 -2.54014 -1.78996 -2.08467 0.922993 0.960147 -1.43953 -2.79691 1.75205 1.2811 2.29722 -1.38825 1.7931 -2.5983 2.31869 -0.52847 -1.62611 2.93344 -2.06659 1.40236 3.28653 -1.94265 -2.85811 -1.85165 2.07119 2.51418 -2.30709 2.75234 -0.981497 -1.39578 -2.21057 -2.19398 2.81478 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1.73247 1.8165 -1.89866 -1.16699 2.22767 2.08235 1.4853 -1.12618 -2.06787 -1.03569 3.19924 1.83605 -2.41954 1.87361 -1.54871 -2.2837 -1.28534 2.04385 1.69375 -2.19527 1.55118 1.34207 -1.40326 -2.04662 -1.95949 -1.34355 1.55079 } diff --git a/newton-4.00/applications/ndSandbox/demos/ndAdvancedIndustrialRobot.cpp b/newton-4.00/applications/ndSandbox/demos/ndAdvancedIndustrialRobot.cpp index f8d24281d..808f095f0 100644 --- a/newton-4.00/applications/ndSandbox/demos/ndAdvancedIndustrialRobot.cpp +++ b/newton-4.00/applications/ndSandbox/demos/ndAdvancedIndustrialRobot.cpp @@ -24,7 +24,7 @@ namespace ndAdvancedRobot { - #define ND_TRAIN_MODEL + //#define ND_TRAIN_MODEL #define CONTROLLER_NAME "ndRobotArmReach" //#define CONTROLLER_RESUME_TRAINING