Some quentions in re-realizing your team's work

[FengHaobo]

1.Why does the robot arm move so strangely when I ran the reinforcement learning code？just like that it may move up and down again and again so it reach the certain point with repeateded movement.Is it for the weakness of RL or my module isn't good enough.I am using "best.pt " provided by you.
2.And is there any way to accelerate the movement of the robot?It spends me lots of time in waiting.
3.Did you grab the dice by running the reinforcement learning code?I try the RL but it didn't work well.
I sincerely look forward to your reply.Thanks!

[xiaotaonan]

same to me

[zfw1226]

Hi, I am sorry for the late reply.

1. The strange movement of the arm. It is caused by the RL module not perfect, but you can fix it by adjusting the scale of action space (smaller step size) or the done condition or better learning algorithm.
2. Accelerate the movement. There are lots of factors impact the speed of the movement of the robot, including the battery, the computing cost of the vision module, and the duration of PWM signal. You can config the pwm_ctl function to make it move faster, but it may sacrifice the accuracy.
3. Grab the dice. The released code does not include the code to realize the grab dice demo.
   the RL-based controller is used as the submodule to realize the grabbing dice demo. So how do you modify the code to run it?