better mppi tuning

tud-airlab · Mar 24, 2023 · 2ecd1c4 · 2ecd1c4
1 parent f340f0a
commit 2ecd1c4
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/benchmarks/point_robot/mppi_planner/mppi_planner_wrapper.py b/benchmarks/point_robot/mppi_planner/mppi_planner_wrapper.py
@@ -9,16 +9,16 @@ class Objective(object):
     def __init__(self, goal, device):
         self.nav_goal = torch.tensor(goal, device=device)
 
-        self.w_nav = 1.0
-        self.w_obs = 0.5
+        self.w_nav = 2.0
+        self.w_obs = 1
 
     def compute_cost(self, sim: IsaacGymWrapper):
         dof_state = sim.dof_state
         pos = torch.cat((dof_state[:, 0].unsqueeze(1), dof_state[:, 2].unsqueeze(1)), 1)
         obs_positions = sim.obstacle_positions
 
         nav_cost = torch.clamp(
-            torch.linalg.norm(pos - self.nav_goal, axis=1) - 0.05, min=0, max=1999
+            torch.linalg.norm(pos - self.nav_goal, axis=1), min=0, max=1999
         )
 
         # sim.gym.refresh_net_contact_force_tensor(sim.sim)

diff --git a/benchmarks/point_robot/setup/mppi.yaml b/benchmarks/point_robot/setup/mppi.yaml
@@ -4,7 +4,7 @@ config:
   n_steps: 1000
   mppi:
     num_samples: 100
-    horizon: 20
+    horizon: 12
     mppi_mode: halton-spline
     sampling_method: halton
     noise_sigma:
@@ -23,21 +23,21 @@ config:
     update_lambda: false
     update_cov: false
     u_min:
-    - -1.5
+    - -2
     u_max:
-    - 1.5
+    - 2
     u_init: 0.0
     U_init: null
     u_scale: 1.0
     u_per_command: 1
-    rollout_var_discount: 0.95
+    rollout_var_discount: 0.99
     sample_null_action: true
     noise_abs_cost: false
     filter_u: true
     use_priors: true
   isaacgym:
     dt: 0.05
-    substeps: 2
+    substeps: 1
     use_gpu_pipeline: true
     num_client_threads: 0
     viewer: false