From 81b5880cac2afceb2f9547055454f7d78948d79e Mon Sep 17 00:00:00 2001 From: NewtonDynamics Date: Thu, 19 Oct 2023 20:03:33 -0700 Subject: [PATCH] best carpole continue action controller yet, by far --- .../media/cartpoleContinueVPG.dnn | 394 +++++++++--------- .../ndSandbox/demos/ndCartpoleContinue.cpp | 2 +- 2 files changed, 198 insertions(+), 198 deletions(-) diff --git a/newton-4.00/applications/media/cartpoleContinueVPG.dnn b/newton-4.00/applications/media/cartpoleContinueVPG.dnn index a7974e2716..3fa91fc78d 100644 --- a/newton-4.00/applications/media/cartpoleContinueVPG.dnn +++ b/newton-4.00/applications/media/cartpoleContinueVPG.dnn @@ -6,72 +6,72 @@ layer ndBrainLayerLinear { inputs 2 ouputs 64 - bias 0.00129277 -0.000168356 9.7365e-05 0.000887683 0.0032408 -0.000277973 -0.00502563 -0.00213032 0.000456489 -0.000435744 0.00286124 -0.000165932 -0.00186711 -0.00319124 0.00390345 0.00190908 0.00445776 0.0112562 0.00112635 0.000315896 0.00207216 -0.000793065 -0.00138287 0.0013958 -0.000613695 4.69642e-05 0.000365349 0.000505129 -0.00190556 0.002896 -0.00172165 0.000835178 0.000137132 0.00317584 0.00110259 -0.000443096 -0.00207802 -0.00114947 -2.18071e-06 0.0010715 -0.00913583 -0.000410245 -0.000636431 0.000215391 0.000992706 -0.000793316 0.00096284 0.00113609 0.00247259 -0.000493361 -6.80583e-05 -0.000137978 0.000439423 0.00335231 0.000354767 0.000491096 -0.00166567 -0.000503771 0.000698314 -0.0094457 -0.000750303 -0.00409192 -0.00528545 0.00373213 + bias 0.00158699 -0.00026807 0.000105896 0.0008813 0.00321962 -0.000338224 -0.00498148 -0.00201124 0.00031722 -0.000132149 0.00271767 -0.000207018 -0.00181233 -0.00299441 0.00402444 0.00200843 0.00445587 0.0112782 0.00113111 0.000347521 0.00203358 -0.00085952 -0.00148852 0.00149634 -0.000606173 7.99678e-05 0.000314503 0.000296201 -0.00192409 0.00285979 -0.00183679 0.000638756 8.45541e-05 0.00334163 0.00112422 -0.000439778 -0.00218994 -0.00111807 1.46327e-05 0.00123813 -0.00852975 -0.000474981 -0.000476163 0.000265468 0.00090657 -0.000822566 0.00102897 0.00109299 0.0024313 -0.000481285 -0.000104269 -0.000113176 0.000510079 0.00314515 -0.000245081 0.000489804 -0.00160771 -0.000476114 0.000783531 -0.00865125 -0.00075406 -0.00380465 -0.00534494 0.00325384 weights - row_0 -0.156564 0.3167 - row_1 0.461001 0.202075 - row_2 -0.30734 0.163024 - row_3 -0.0334232 0.15412 - row_4 -0.538488 0.0569425 - row_5 0.24138 -0.348804 - row_6 0.414317 0.0887167 - row_7 -0.163107 -0.346162 - row_8 0.372501 -0.15079 - row_9 0.0706233 0.111482 - row_10 0.361656 0.128758 - row_11 0.0600399 -0.0693969 - row_12 -0.0781342 -0.158297 - row_13 -0.211967 -0.139017 - row_14 -0.366905 0.256702 - row_15 -0.196363 0.0601723 - row_16 0.271224 0.796422 - row_17 -0.599288 0.342774 - row_18 -0.377052 0.0236731 - row_19 -0.171652 -0.0437383 - row_20 0.799874 0.662555 - row_21 0.325156 -0.26321 - row_22 -0.406208 -0.378602 - row_23 -0.329533 -0.149358 - row_24 -0.135564 -0.383985 - row_25 -0.176912 -0.209415 - row_26 -0.186867 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0.334091 -0.919874 - row_63 -0.0806982 -0.158922 + row_0 -0.185316 0.315049 + row_1 0.523668 0.201971 + row_2 -0.321015 0.162895 + row_3 -0.0478376 0.154278 + row_4 -0.591926 0.057916 + row_5 0.256241 -0.348162 + row_6 0.494871 0.0875106 + row_7 -0.206091 -0.344192 + row_8 0.423009 -0.150396 + row_9 0.0706049 0.107892 + row_10 0.392001 0.127846 + row_11 0.0660902 -0.0692443 + row_12 -0.0763669 -0.157976 + row_13 -0.272453 -0.136342 + row_14 -0.434889 0.255358 + row_15 -0.262636 0.05987 + row_16 0.265568 0.79485 + row_17 -0.628877 0.341877 + row_18 -0.390127 0.0236021 + row_19 -0.190273 -0.0434966 + row_20 0.854968 0.661531 + row_21 0.360154 -0.262961 + row_22 -0.375805 -0.377685 + row_23 -0.343419 -0.151103 + row_24 -0.156348 -0.383002 + row_25 -0.189016 -0.209304 + row_26 -0.193215 -0.085816 + row_27 0.998531 0.086246 + row_28 0.213337 -0.0888959 + row_29 -0.197143 0.0366924 + row_30 0.416671 -0.397742 + row_31 0.375385 -0.00491745 + row_32 0.580805 0.0491229 + row_33 0.151747 0.508405 + row_34 0.549966 0.298685 + row_35 0.290196 0.0288527 + row_36 -0.336695 -0.672833 + row_37 -0.464687 -0.190161 + row_38 -0.125349 -0.0923595 + row_39 -0.291394 0.175544 + row_40 -0.705198 -1.21334 + row_41 0.538731 -0.361663 + row_42 -0.334297 0.248022 + row_43 -0.146384 0.178815 + row_44 0.267322 -0.0878994 + row_45 0.245695 -0.373817 + row_46 -0.372427 0.120201 + row_47 0.0489528 0.406819 + row_48 0.0636216 0.269607 + row_49 0.347665 -0.388709 + row_50 0.428748 -0.33871 + row_51 -0.479887 -0.116037 + row_52 -0.658186 0.0596185 + row_53 0.354685 0.130266 + row_54 0.569357 -0.140498 + row_55 0.117373 0.182457 + row_56 -0.759886 -0.634086 + row_57 -0.166078 0.0712113 + row_58 -0.462669 0.0963127 + row_59 -0.427963 0.131857 + row_60 0.461233 -0.226542 + row_61 -0.429146 -0.182334 + row_62 0.350601 -0.916832 + row_63 -0.0363403 -0.157359 } layer ndBrainLayerTanhActivation @@ -83,72 +83,72 @@ layer ndBrainLayerLinear { inputs 64 ouputs 64 - bias 0.000780963 0.00585865 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0.0520031 -0.28499 0.0909136 0.0452612 -0.153473 0.1056 -0.170498 -0.275508 -0.503642 -0.0953427 -0.0726374 0.180501 0.0317219 0.435126 0.350063 0.350758 -0.487451 -0.341089 } layer ndBrainLayerTanhActivation @@ -237,9 +237,9 @@ layer ndBrainLayerLinear { inputs 64 ouputs 1 - bias 6.62929e-05 + bias 7.06103e-05 weights - row_0 -0.0360224 -0.267479 0.141177 0.089531 0.335274 -0.528833 -0.0343149 0.0699057 0.65606 0.00745804 -0.0873593 -0.271393 0.103061 0.224962 -0.408863 -0.0309336 -0.211942 -0.191641 0.591377 -0.172033 -0.511744 -0.285998 -0.0749034 0.0867123 0.011452 -0.160771 -0.622108 -0.0713256 -0.724652 0.0233464 0.0762333 -0.165782 0.112773 -0.270335 0.746958 -0.284625 -0.979391 -0.282482 0.43547 0.291988 0.183228 0.575189 -0.506142 -0.623519 0.153635 0.169323 -0.349281 0.096085 -0.100409 0.348019 -0.045238 -0.477382 -0.449956 -0.297882 -0.0294798 -0.311762 0.0824517 0.0699549 0.239951 0.218021 -0.251739 0.539084 0.245111 -0.110558 + row_0 -0.0364632 -0.265153 0.142573 0.0897213 0.338173 -0.537849 -0.0373214 0.0741801 0.658494 0.00745732 -0.0892314 -0.277709 0.105706 0.225579 -0.410581 -0.0337421 -0.210995 -0.21155 0.596748 -0.173065 -0.514451 -0.279912 -0.0747435 0.0886746 0.00997345 -0.16098 -0.628445 -0.0785337 -0.725162 0.0245424 0.0769871 -0.168474 0.118767 -0.271146 0.749342 -0.288741 -0.985053 -0.291033 0.432919 0.292114 0.185412 0.57632 -0.518586 -0.626079 0.160357 0.170525 -0.357958 0.102062 -0.0999244 0.351166 -0.0487577 -0.477639 -0.463437 -0.296671 -0.0289108 -0.314272 0.0890213 0.0700395 0.240255 0.224539 -0.249376 0.552148 0.249578 -0.113964 } layer ndBrainLayerTanhActivation diff --git a/newton-4.00/applications/ndSandbox/demos/ndCartpoleContinue.cpp b/newton-4.00/applications/ndSandbox/demos/ndCartpoleContinue.cpp index 831e4a6e7b..e35b5f07f2 100644 --- a/newton-4.00/applications/ndSandbox/demos/ndCartpoleContinue.cpp +++ b/newton-4.00/applications/ndSandbox/demos/ndCartpoleContinue.cpp @@ -22,7 +22,7 @@ namespace ndCarpole_1 { - #define D_TRAIN_AGENT + //#define D_TRAIN_AGENT #define D_USE_VANILLA_POLICY_GRAD //#define D_USE_PROXIMA_POLICY_GRAD