[WIP] TRIAL REWARD works for pushing and grasping #14
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…stacking into check_stack_rows
…stacking into check_stack_rows
…stacking into check_stack_rows
Now, if progress is undone, always reset.
…label_value_log[sample_iteration]
benjamindkilleen
approved these changes
Sep 12, 2019
main.py
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| # here we are assuming blocks for check_row, if any block leaves the scene then we can't succeed. | ||
| # TODO(ahundt) is adding num_extra_obj appropriate? | ||
| # TODO(ahundt) is applying this threshold to place appropriate? probably not unless volume is also accounted for, a perfect stack is about the area of 1 block. | ||
| empty_threshold = 300 * (num_obj + num_extra_obj) |
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Is num_extra_obj 0 for the blocks case? Or are those the distractors?
benjamindkilleen
approved these changes
Sep 12, 2019
ahundt
changed the title
…meters as of the last check_z_height multiplier change
|
Seems to be working! |
ahundt
added a commit
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Jun 27, 2020
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need to make trial version of trainer label_value_log[sample_iteration], since that is actually what is passed to backprop() in experience_replay.
Would be good to pair program this change to make sure the logic is correct.