MMMultiSphere (v02): BC_PCL_PNet2_svd_ee
Now running through differentiable SVD layer with the multi-sphere env. Again this is translation-only so the quaternions are kind of irrelevant but we do try and apply a MSE on the quaternions to make the resulting flow map to (1,0,0,0).
Created on April 22|Last edited on April 25
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Seems like results are:
(0.2262+ 0.1845 + 0.1587) / 3 = 0.1898.
Train/Eval MSEs, Episode Success/Reward
Run set
3
Example GIFs:
First seed (yeah, getting confused with the two balls). It's not normally this good, FYI, since the smoothed curves are showing low performance. Actually a lot of the successes here don't involve sideways movement, except see lower left corner (that's a good one!).
Second seed, some promising results here (with sideways movement).
Third seed, seems to be getting stuck sometimes. But I like the one in the upper left corner. :)
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