Progress for week 6 (2020)
From Robin
Contents |
Nikolai
This week's news
- Har fått hjelp av Ulysse og kan nå hente ut EMG data i Unity.
Wonho
Accounting
- new behaviour descriptor implemented - last position
- the results are more promissing - 4 evolution processes generated same walking gait, low crawling ( this needs modification on fitness function )
- Needs longer evaluation for each genome to be effective
- Vanila NEAT - generates very uncoordinated and unstable gaits
- Tested some closed loop control scheme - setting its foot pattern or current joint angle as input to the network ( Risi uses current joint angle of upper joints )
- The results are mostly devastating - systems converging to stable state ( not moving at all ) after few iterations.
- This used to work okay with MultiNEAT's CTRNN - perhaps there are some difference in implementation in neat-python
- Implementing MOEA
- Tested Pareto front selection scheme on novelty archive ( currently limiting number of individuals since computation time increases exponentially )
- The results doesn't seem very different from before
- Will implement this for NEAT reproduction process
- All experiments are recording git sha in the logger so that it can be regenerated later on
Budget
- Finish implementing MOEA in population reproduction process
- Create some graphs from recent experiments
Tony
Budget
Prøve på mobile robot med 2 ledd. (ikke 4 DOF)
Accounting
Hvordan kan dette på best muligvis overføres til vinkel/vinkelhastighet? theta = w*f(x) + w*g(x) + ... hvor da f(x) og g(x) er motion-features kurver pluss mange i tillegg