frame policy from strands-arm e6d5d31

README.md

@@ -34,8 +34,8 @@ detection), right = third person. [MP4](media/frame.mp4).
 |---|---|---|---|---|---|---|
 | zero action | 0.29 | 0.00 | 0.945 | 0.191 | 0.020 | 0.10 |
 | head-only P (watch.py) | 0.39 | 0.01 | 0.660 | 0.211 | 0.846 | 2.06 |
-| **this policy** | 0.72 | 0.11 | 0.270 | 0.170 | 0.109 | 8.93 |
-| this policy, arm frozen | 0.63 | 0.01 | 0.504 | 0.191 | 2.546 | 1.46 |
+| **this policy** | 0.69 | 0.20 | 0.198 | 0.184 | 0.036 | 5.44 |
+| this policy, arm frozen | 0.64 | 0.03 | 0.396 | 0.192 | 1.670 | 1.39 |
 
 **PASS: keeps the subject visible more often than the head-only P step.** framed = centre error < 0.15 and size error < 0.1. The arm-frozen row is the same
 network with servos 1..4 held: the difference is what the arm buys.
@@ -80,5 +80,5 @@ Input `obs` [1, 30] float32, output `act` [1, 6] float32 = servo deg per 0.1 s s
 Runner: `strands_arm.policy.FramePolicy` (image ey flipped to the sim's up-positive frame, size = box
 height / half frame, ToF mm -> m, targets clamped through `kine.clamp_pose`). **Never run on the real
 arm yet**; shadow mode (real pose, detections and ToF, nothing written) is logged in the repo's RL.md.
-Source: github.com/cagataycali/strands-arm `f3b0771`, `rl/envs/frame_env.py`, `rl/sim/`. PPO: {"n_envs": 128, "steps_per_env": 50, "epochs": 4, "minibatches": 8, "lr": 0.0003, "gamma": 0.98, "lam": 0.95, "clip": 0.2, "ent_coef": 0.003, "vf_coef": 0.5, "max_grad_norm": 0.5, "hidden": 128, "act_scale": 5.0, "act_dim": 6, "total_updates": 2000, "device": "cpu", "seed": 0}
-Env overrides: {}
+Source: github.com/cagataycali/strands-arm `e6d5d31`, `rl/envs/frame_env.py`, `rl/sim/`. PPO: {"n_envs": 256, "steps_per_env": 50, "epochs": 4, "minibatches": 8, "lr": 0.0003, "gamma": 0.98, "lam": 0.95, "clip": 0.2, "ent_coef": 0.002, "vf_coef": 0.5, "max_grad_norm": 0.5, "hidden": 128, "act_scale": 5.0, "act_dim": 6, "total_updates": 2500, "device": "cpu", "seed": 0}
+Env overrides: {"w_act": 0.1, "w_jerk": 0.1}

config.json

@@ -1,7 +1,7 @@
 {
  "policy": "frame",
  "ppo": {
-  "n_envs": 128,
+  "n_envs": 256,
   "steps_per_env": 50,
   "epochs": 4,
   "minibatches": 8,
@@ -9,14 +9,18 @@
   "gamma": 0.98,
   "lam": 0.95,
   "clip": 0.2,
-  "ent_coef": 0.003,
+  "ent_coef": 0.002,
   "vf_coef": 0.5,
   "max_grad_norm": 0.5,
   "hidden": 128,
   "act_scale": 5.0,
   "act_dim": 6,
-  "total_updates": 2000,
+  "total_updates": 2500,
   "device": "cpu",
   "seed": 0
+ },
+ "env_kw": {
+  "w_act": 0.1,
+  "w_jerk": 0.1
  }
 }

eval.json

@@ -20,23 +20,23 @@
   "episodes": 256
  },
  "policy": {
-  "visible_frac": 0.7203645833333333,
-  "centre_err": 0.27017123802517523,
-  "size_err": 0.16958901588768707,
-  "framed_frac": 0.11479166666666667,
-  "contacts_per_step": 0.10856770833333333,
-  "travel_deg_per_step": 8.934928471853103,
-  "return": -149.13611259657773,
+  "visible_frac": 0.6905729166666666,
+  "centre_err": 0.1983825183106866,
+  "size_err": 0.1842055106720862,
+  "framed_frac": 0.20065104166666667,
+  "contacts_per_step": 0.036041666666666666,
+  "travel_deg_per_step": 5.43995060231392,
+  "return": -131.71154753941119,
   "episodes": 256
  },
  "policy_head_only": {
-  "visible_frac": 0.6321614583333334,
-  "centre_err": 0.5042852304116712,
-  "size_err": 0.19102036311587503,
-  "framed_frac": 0.007083333333333333,
-  "contacts_per_step": 2.546484375,
-  "travel_deg_per_step": 1.4640654664408645,
-  "return": -353.27441006313893,
+  "visible_frac": 0.643828125,
+  "centre_err": 0.3961956481892011,
+  "size_err": 0.19241690997684427,
+  "framed_frac": 0.028697916666666667,
+  "contacts_per_step": 1.6695052083333333,
+  "travel_deg_per_step": 1.394960471916383,
+  "return": -272.8525200909862,
   "episodes": 256
  }
 }

exported/contract.json

@@ -56,6 +56,6 @@
   ],
   "units": "servo deg per 0.1 s step, ids 1..6"
  },
- "round_trip_max_abs_err": 1.430511474609375e-06,
+ "round_trip_max_abs_err": 9.5367431640625e-07,
  "size_bytes": 86676
 }

exported/policy.onnx

@@ -1,3 +1,3 @@
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 size 86676

media/frame.mp4

@@ -1,3 +1,3 @@
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+oid sha256:51dfa6dca58a1b7b046b64aef5f7ef3cba380900f5dc8051e93ec631a15e7c2b
+size 145773