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jonas-eschmannjonas-eschmann
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inference looking good
1 parent 1ba9d5b commit 4ceb236

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2 files changed

+63
-53
lines changed

2 files changed

+63
-53
lines changed

‎index.js‎

Lines changed: 56 additions & 50 deletions
Original file line numberDiff line numberDiff line change
@@ -46,66 +46,71 @@ let model = null
4646
class Policy{
4747
constructor(){
4848
this.step = 0
49-
this.state = null
49+
this.states = null
5050
}
51-
evaluate_step(state) {
52-
state.observe()
51+
get_observation(state, obs){
52+
let vehicle_state = null
5353
const full_observation = [...Array(state.observation_dim).keys()].map(i => state.get_observation(i))
5454
console.assert(full_observation.length > 18, "Observation is smaller than base observation")
55-
const get_obs = (obs) => {
56-
let vehicle_state = null
57-
const get_state = () => {
58-
if (vehicle_state === null) {
59-
vehicle_state = JSON.parse(state.get_state())
60-
}
61-
return vehicle_state
55+
const get_state = () => {
56+
if (vehicle_state === null) {
57+
vehicle_state = JSON.parse(state.get_state())
6258
}
63-
switch (true) {
64-
case obs === "Position":
65-
return full_observation.slice(0, 3)
66-
case obs === "OrientationRotationMatrix":
67-
return full_observation.slice(3, 12)
68-
case obs === "LinearVelocity":
69-
return full_observation.slice(12, 15)
70-
case obs === "AngularVelocity":
59+
return vehicle_state
60+
}
61+
switch (true) {
62+
case obs === "Position":
63+
return full_observation.slice(0, 3)
64+
case obs === "OrientationRotationMatrix":
65+
return full_observation.slice(3, 12)
66+
case obs === "LinearVelocity":
67+
return full_observation.slice(12, 15)
68+
case obs === "AngularVelocity":
69+
return full_observation.slice(15, 18)
70+
case obs.startsWith("AngularVelocityDelayed"):
71+
const delay_string = obs.split("(")[1].split(")")[0]
72+
const delay = parseInt(delay_string)
73+
if (delay === 0) {
7174
return full_observation.slice(15, 18)
72-
case obs.startsWith("AngularVelocityDelayed"):
73-
const delay_string = obs.split("(")[1].split(")")[0]
74-
const delay = parseInt(delay_string)
75-
if (delay === 0) {
76-
return full_observation.slice(15, 18)
77-
} else {
78-
const s = get_state()
79-
return s["angular_velocity_history"][s["angular_velocity_history"].length - delay]
80-
}
81-
case obs.startsWith("ActionHistory"):
82-
const history_length_string = obs.split("(")[1].split(")")[0]
83-
const history_length = parseInt(history_length_string)
84-
return full_observation.slice(18, 18 + history_length * 4)
85-
case obs === "RotorSpeeds":
86-
const parameters = JSON.parse(state.get_parameters())
87-
const min_action = parameters.dynamics.action_limit.min
88-
const max_action = parameters.dynamics.action_limit.max
89-
return get_state()["rpm"].map(x => (x - min_action) / (max_action - min_action) * 2 - 1)
90-
default:
91-
console.error("Unknown observation: ", obs)
92-
return null
93-
}
75+
} else {
76+
const s = get_state()
77+
return s["angular_velocity_history"][s["angular_velocity_history"].length - delay]
78+
}
79+
case obs.startsWith("ActionHistory"):
80+
const history_length_string = obs.split("(")[1].split(")")[0]
81+
const history_length = parseInt(history_length_string)
82+
return full_observation.slice(18, 18 + history_length * 4)
83+
case obs === "RotorSpeeds":
84+
const parameters = JSON.parse(state.get_parameters())
85+
const min_action = parameters.dynamics.action_limit.min
86+
const max_action = parameters.dynamics.action_limit.max
87+
return get_state()["rpm"].map(x => (x - min_action) / (max_action - min_action) * 2 - 1)
88+
default:
89+
console.error("Unknown observation: ", obs)
90+
return null
91+
}
92+
}
93+
evaluate_step(states) {
94+
if(!this.states || this.states.length !== states.length){
95+
this.states = states.map(() => null)
9496
}
95-
const observation_description = document.getElementById("observations").observation
96-
let input = math.matrix([observation_description.split(".").map(x => get_obs(x)).flat()])
97-
const input_offset = default_trajectory(this.step / 100)
98-
input_offset.forEach((x, i) => {
99-
input._data[0][i] = input._data[0][i] - x
97+
return states.map((state, i) => {
98+
state.observe()
99+
const observation_description = document.getElementById("observations").observation
100+
let input = math.matrix([observation_description.split(".").map(x => this.get_observation(state, x)).flat()])
101+
const input_offset = default_trajectory(this.step / 100)
102+
input_offset.forEach((x, i) => {
103+
input._data[0][i] = input._data[0][i] - x
104+
})
105+
const [output, new_state] = model.evaluate_step(input, this.states[i])
106+
this.states[i] = new_state
107+
this.step += 1
108+
return output.valueOf()[0]
100109
})
101-
const [output, new_state] = model.evaluate_step(input, this.state)
102-
this.state = new_state
103-
this.step += 1
104-
return output.valueOf()[0]
105110
}
106111
reset() {
107112
this.step = 0
108-
this.state = null
113+
this.states = null
109114
}
110115
}
111116

@@ -168,6 +173,7 @@ async function main(){
168173
};
169174
reader.readAsArrayBuffer(file);
170175
}
176+
event.target.value = "";
171177
})
172178
document.getElementById("observations").addEventListener("keydown", (e) => {
173179
if (e.key === "Enter") {

‎l2f.js‎

Lines changed: 7 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -112,13 +112,17 @@ export class L2F{
112112
this.state_update_callbacks.forEach(callback => callback(combined_state))
113113
}
114114
simulate_step(){
115-
let dts = []
116-
this.states.forEach(state => {
117-
const action = this.policy.evaluate_step(state)
115+
const actions = this.policy.evaluate_step(this.states)
116+
console.assert(actions.length === this.states.length, "Action dimension mismatch")
117+
this.states.forEach((state, i) => {
118+
const action = actions[i]
118119
console.assert(action.length === state.action_dim, "Action dimension mismatch")
119120
action.map((v, i) => {
120121
state.set_action(i, v)
121122
})
123+
})
124+
let dts = []
125+
this.states.forEach((state, i) => {
122126
const dt = state.step()
123127
dts.push(dt)
124128
})

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