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High frequency in RPMs when include action buffer in observation space can couse problems in real hardware #212
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Hi @piratax007, apologies for the late answer.
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Thanks for your time and answer. I extracted the action buffer from the observation space and training using curriculum learning the training process takes a couple of hours for a complicated task. Now I'm trying sim2real using crazyflie 2.x and Vicon system, I have issues because the observations from Vicon come with noise and the policy was trained in a perfect environment. Any suggestions for the sim2real transfer part? Best regards. |
Hello @JacopoPan,
First of all, congratulations on this wonderful repo.
Now, I'm training a policy to control a real Crazyflie, I'm using RPM as action space instead of ONE_DIM_RPM and I have success in simulation except for the RPM plot.
As you can see here:
the RMP has this high frequency that makes it useless to implement in a real drone.
I understand what you said in #180 "The main thing to note is that the observation contains the actions of the last .5 seconds, so increasing the ctrl freq will increase the obs space." and "The idea of the action buffer is that the policy might be better guided by knowing what the controller had done just before, the proportionality to the control frequency makes it dependent on the wall-clock only, and not the type of controller (but it might be appropriate to change that, depending on application).". Nevertheless, adding the action buffer in the observation space has as a consequence the high frequency shown before. If I remove the buffer and use only the states (12 inputs) as observation space, the drone achieves the target position and orientation (because I'm controlling yaw) and the RPM doesn't present the high frequency reported
Questions:
BaseAviary.py
line 481 you define the time step using PYB_FREQUENCY).Thanks for your time.
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