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compass to center of mass
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Mo8it
parent
f446c7fbc3
commit
83cf83b6a4
1 changed files with 29 additions and 14 deletions
43
src/RL.jl
43
src/RL.jl
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@ -12,7 +12,7 @@ using LoopVectorization: @turbo
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using Random: Random
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using ProgressMeter: @showprogress
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using ..ReCo: ReCo, Particle, angle2, center_of_mass
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using ..ReCo: ReCo, Particle, angle2, Shape
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const INITIAL_REWARD = 0.0
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const INITIAL_STATE_IND = 1
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@ -55,6 +55,8 @@ mutable struct Env <: AbstractEnv
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terminated::Bool
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center_of_mass::SVector{2,Float64} # TODO: Use or remove
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gyration_tensor_eigvec_to_smaller_eigval::SVector{2,Float64}
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gyration_tensor_eigvec_to_bigger_eigval::SVector{2,Float64}
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function Env(;
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max_distance::Float64,
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@ -65,7 +67,7 @@ mutable struct Env <: AbstractEnv
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max_ω::Float64=π / 2,
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n_distance_states::Int64=4,
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n_direction_angle_states::Int64=3,
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n_position_angle_states::Int64=4,
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n_position_angle_states::Int64=8,
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)
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@assert min_distance >= 0.0
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@assert max_distance > min_distance
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@ -182,7 +184,7 @@ struct Params{H<:AbstractHook}
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n_steps_before_actions_update::Int64
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goal_shape_ratio::Float64
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goal_gyration_tensor_eigvals_ratio::Float64
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n_particles::Int64
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half_box_len::Float64
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@ -193,7 +195,7 @@ struct Params{H<:AbstractHook}
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agent::Agent,
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hook::H,
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n_steps_before_actions_update::Int64,
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goal_shape_ratio::Float64,
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goal_gyration_tensor_eigvals_ratio::Float64,
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n_particles::Int64,
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half_box_len::Float64,
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) where {H<:AbstractHook}
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@ -210,7 +212,7 @@ struct Params{H<:AbstractHook}
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fill(SVector(0.0, 0.0), n_particles),
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fill(0, n_particles),
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n_steps_before_actions_update,
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goal_shape_ratio,
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goal_gyration_tensor_eigvals_ratio,
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n_particles,
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half_box_len,
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max_elliptic_distance,
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@ -247,17 +249,23 @@ function state_update_hook(rl_params::Params, particles::Vector{Particle})
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env = rl_params.env
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env.center_of_mass = Shape.center_of_mass(particles, rl_params.half_box_len)
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for id in 1:(rl_params.n_particles)
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particle = particles[id]
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distance = sqrt(particle.c[1]^2 + particle.c[2]^2)
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vec_to_center_of_mass = ReCo.minimum_image(
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env.center_of_mass - particle.c, rl_params.half_box_len
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)
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distance = sqrt(vec_to_center_of_mass[1]^2 + vec_to_center_of_mass[2]^2)
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distance_state = find_state_interval(distance, env.distance_state_space)
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si, co = sincos(particles[id].φ)
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direction_angle = angle2(SVector(co, si), -particle.c)
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position_angle = atan(particle.c[2], particle.c[1])
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direction_angle = angle2(SVector(co, si), vec_to_center_of_mass)
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position_angle = atan(-vec_to_center_of_mass[2], -vec_to_center_of_mass[1])
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direction_angle_state = find_state_interval(
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direction_angle, env.direction_angle_state_space
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@ -274,7 +282,10 @@ function state_update_hook(rl_params::Params, particles::Vector{Particle})
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rl_params.states_ind[id] = state_ind
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end
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env.center_of_mass = center_of_mass(particles, rl_params.half_box_len)
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v1, v2 = Shape.gyration_tensor_eigvecs(particles, rl_params.half_box_len) # TODO: Reuse center_of_mass
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env.gyration_tensor_eigvec_to_smaller_eigval = v1
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env.gyration_tensor_eigvec_to_bigger_eigval = v2
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return nothing
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end
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@ -285,8 +296,12 @@ end
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function update_reward!(env::Env, rl_params::Params, particle::Particle)
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env.reward =
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-(particle.c[1]^2 + particle.c[2]^2) /
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(rl_params.max_elliptic_distance^2 * rl_params.n_particles)
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-Shape.elliptical_distance(
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particle,
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env.gyration_tensor_eigvec_to_smaller_eigval,
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env.gyration_tensor_eigvec_to_bigger_eigval,
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rl_params.goal_gyration_tensor_eigvals_ratio,
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) / (rl_params.max_elliptic_distance^2 * rl_params.n_particles)
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return nothing
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end
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@ -368,7 +383,7 @@ function gen_agent(n_states::Int64, n_actions::Int64, ϵ_stable::Float64)
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end
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function run_rl(;
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goal_shape_ratio::Float64,
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goal_gyration_tensor_eigvals_ratio::Float64,
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n_episodes::Int64=200,
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episode_duration::Float64=50.0,
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update_actions_at::Float64=0.1,
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@ -377,7 +392,7 @@ function run_rl(;
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ϵ_stable::Float64=0.0001,
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parent_dir::String="",
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)
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@assert 0.0 <= goal_shape_ratio <= 1.0
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@assert 0.0 <= goal_gyration_tensor_eigvals_ratio <= 1.0
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@assert n_episodes > 0
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@assert episode_duration > 0
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@assert update_actions_at in 0.001:0.001:episode_duration
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@ -405,7 +420,7 @@ function run_rl(;
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agent,
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hook,
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n_steps_before_actions_update,
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goal_shape_ratio,
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goal_gyration_tensor_eigvals_ratio,
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n_particles,
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sim_consts.half_box_len,
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)
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