Avoid object penetration

Discussion in 'Modeling' started by Jędrzej Orbik, Oct 22, 2019.

  1. I have trained a reinforcement learning policy and it solved to task of grasping by finding the fault in my model. When it performs fast movement it is able to penetrate the object and efectively keep the object in the hand. Video:

    Is there any way to prevent such a object penetration?
  2. Smaller time steps could do it.
    If you allow your agent to use physically implausible input (max speed, max input torque ect...), you shouldn't be surprised that your trained agent exhibits physically implausible skills.

    How do you control the position of your hand. Is it welded to a mocap body and you control the position of that body with your agent?
    Last edited: Oct 22, 2019
    Jędrzej Orbik likes this.