goms's Introduction
实验计划: state: 10: 3 position, 3 linear velocity, 4 angular velocity action: 3 position control goal: 3 position 实验1: 训练: 输入 state + next_state 输出 action 测试: 输入 state + goal 输出 action 结果1: 对于 fetch_reacher 任务来说效果不错 实验2: 训练: 输入 state + goal 输出 action 测试: 输入 state + goal 输出 action 结果2: 对于 fetch_pick_and_place 任务来说效果不错 实验3: 在实验2上减少训练的样本数量 问题1:怎么让 random 采集到的数据 make sense ?!! 答案1:手动编写控制代码 问题2:训练得到的 policy 的成功率为0 答案2:让原来的回归任务改成分类任务 训练4个分类器,其中3个是3分类任务,一个是2分类任务 上面的答案不对!! 正确的原因是提供的特征的维度太多,造成了维度爆炸。 解决办法是把原来的长度为25的observation缩短到长度为6 结果: 无论是分类任务还是回归任务,准确率都可以接近100% 问题3:如何从gym中得到图片 答案3: 1. 设置render的mode参数 env.render(mode='rgb_array') 2. 去除多余的显示信息 ~/Documents/mujoco-py/mujoco_py/mjviewer.py中 class MjViewer 中 self._hide_overlay = True 3. 更改图片的大小 ~/anaconda3/envs/tf-cpu/lib/python3.6/site-packages/gym/envs/mujoco/mujoco_env.py中 class:MujocoEnv function:render中 width, height = 1744, 992 注意注意!!!! 之前的代码 “forward-consistent-feature-reduced-GSP.py” 有错误 在 train 函数的 next_state_feed 的获取中,我应该把 j+36 而不是加 32 !!!! 问题4:如果模型A包含模型B,如何在模型A中加载模型B预训练好的权重? 我的一个担忧是:如果在模型A中直接调用模型B,(即把模型B当做一个层来调用)那么在模型A中加载模型B的权重会成功吗? 更保险地做法是:在模型A中加入和模型B一模一样的层,而不是直接调用B。 问题5: 用两个LSTM来实现 auto-encoder 存在的问题 decoder可能什么也没学到 有两个解决办法: 1,decoder不用LSTM 2,对状态序列进行降采样 gym 里面的一个bug是: when using render(), the firs time the claw is very low but if not using render(), the problem is gone 之前犯了一个非常愚蠢地错误是在我的第一个版本的top-sub policy 中,我加载权重的时候设置了 by_name = True, 导致权重加载不正确
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