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skills.md

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Skills

Hands Opposite Motion

  • Allowed Joints 2
  • Tanh Activation everywhere
  • lr 0.001
  • 3 thread
  • hand_opposite.bvh

State Space

  • 2 joints
  • 2 Velocities
  • 3 GYR
  • 3 ACC
  • 3 Pos
  • 1 Orr

Reward Function

  • -690
  • Sum of square of all joint position differences from time-linear motion of hands

Stay steady

  • Allowed Joints 12 ( 4 lefthand + 4 righthand + 2 head + 2 knees)
  • Tanh Activation everywhere
  • lr 0.001
  • 2 threads
  • stand.bvh

State Space

  • 12 joints
  • 12 Velocities
  • 3 GYR
  • 3 ACC
  • 3 Pos
  • 1 Orr
  • 1 Time

Reward Function

  • -1590
  • Sum of square of all joint position differences

Situps

  • Allowed Joints 6 ( 2 hips + 2 knees + 2 ankles)
  • Tanh Activation everywhere
  • lr 0.001
  • situps.bvh

State Space

  • 4 joints
  • 4 Velocities
  • 3 GYR
  • 3 ACC
  • 3 Pos Tanh 1 Orr
  • 1 Time

Reward Function

  • Sum of square of all joint position differences

Hazards

  • Not letting it learn to fall quickly so as to get fewer negative rewards in longer run
  • Fallen punishment ? Must be large negative reward