From 9d6cc4c15e167bedf682ddb4c681b8a218a58998 Mon Sep 17 00:00:00 2001 From: Michael Pilosov Date: Sun, 20 Mar 2022 19:59:52 -0600 Subject: [PATCH] update docs --- README.md | 45 ++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 44 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 7d43288..beae4ce 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,46 @@ # mud-games -control systems with MUD points \ No newline at end of file +control systems with MUD points + +# installation + +```bash +pip install -r requirements.txt +``` + + +# usage + +A `data.pkl` file is provided for your convenience with input / output samples. + +The inputs are the parameters to a `4x1` matrix which is multiplied against the observations of the state in order to make a decision for the next action (push left or right). The output of the vector inner-product is binarized by comparison to zero as a threshold value. + +The parameter space is standard normal. +There is no assumed error in observations, so the "data variance" is designed to reflect the acceptable ranges for the parameters: + +From [gym](https://www.gymlibrary.ml/pages/environments/classic_control/cart_pole): +- The cart x-position (index 0) can be take values between (-4.8, 4.8), but the episode terminates if the cart leaves the (-2.4, 2.4) range. +- The pole angle can be observed between (-.418, .418) radians (or ±24°), but the episode terminates if the pole angle is not in the range (-.2095, .2095) (or ±12°) + + +The target "signal" is zero for all four dimensions of the observation space. The presumed "data variance" should actually correspond to the acceptable bands of signal (WIP). + +```bash +python main.py +``` + +# generate data + +You can generate your own data with: +```bash +python data.py +``` + +Note: if you change the presumed sample space in `data.py`, you should make the corresponding changes to the initial distribution in `main.py`. + + +# improvements + +Using the following presumptions, we can establish better values for the "data variance": +The angular momentum of the pole is the most important thing to stabilize. +