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Member's Experiments & Projects => AI Programming => Topic started by: goaty on April 27, 2019, 04:53:55 pm

Title: my first "walker"
Post by: goaty on April 27, 2019, 04:53:55 pm
Got something for you guys, not too exciting and pretty buggy but...
Small step for man, one giant leap of tippy toes for goaty!

https://www.youtube.com/watch?v=ikhbSxf1soI

Bugged, I thought I might upload it because it seems to be following the goal, even if its getting stuck.
I think getting the simulation right is harder than actually getting the genetic algorythm to work,  it only makes as much sense as the world you give it makes sense.
Otherwise its just random 1's and 0's coming out of it.

At the start I think its working, when its tip toeing along at the beginning, but it topples over and spoils further results cause it cant get back up.

Im still working on It,  so if theres any improvements it will go into the thread.
Title: Re: my first "walker"
Post by: goaty on April 27, 2019, 05:29:45 pm
Just to prove my point that this isn't just a random output...   this next vid is scored for the absolute travel over the z axis, instead of just in one direction, it goes both,  and the system seems to be responding properly.  (except it topples over and gets stuck, then starts turning into a terror tentacle, which ill be addressing next.)

https://www.youtube.com/watch?v=fPIB3RKVE7g
Title: Re: my first "walker"
Post by: ivan.moony on April 27, 2019, 05:40:38 pm
I believe restricting knee angles would give sooner results, but I don't know about in a long turn.
Title: Re: my first "walker"
Post by: goaty on April 27, 2019, 05:47:22 pm
I believe restricting knee angles would give sooner results, but I don't know about in a long turn.

Thanks for comment.

Yes, that's going in soon...  and ive got another idea coming up which should help,   and im going to spread out the brute force over more time steps, to make keyframes instead of actual frames and that might be a big win,   so I think im going to get it with that idea,  but have to wait and see.

I actually am confident of this one walking quite naturally like a human,  even tho it doesn't necessarily look like it yet. :)

So ill work on it for the next few days, and see what I get by the 1st of may.   But right now just having a rest from programming.
Title: Re: my first "walker"
Post by: HS on April 27, 2019, 06:47:02 pm
Genetic algorithms are great. Can't wait to see what you come up with.
Title: Re: my first "walker"
Post by: goaty on April 27, 2019, 07:38:11 pm
I colour coded it this time,  and you can definitely see the proper structure of the robot,  b4 this it just looks like any random tentacle but its actually a pair of hips and knees.
https://www.youtube.com/watch?v=XNmyrm55e0k&feature=youtu.be

I added a bit more constraint (Like what Ivan Moony said, but its probably not be in right yet. because its still intersecting itself funny),  its standing up against gravity, but its not moving along yet.  I think its because its knee is inverting and it cant handle the inverse case..   thats it ive had enough for the day, ill leave the next update till the end of tomorrow.  Hopefully itll get there.   

If it actually ends up working I don't mind explaining it to ppl or giving the code away.
Title: Re: my first "walker"
Post by: ivan.moony on April 27, 2019, 08:02:07 pm
I can imagine it moving in a wheel-like manner without constraints. I don't know wich one would be faster / more efficient.
Title: Re: my first "walker"
Post by: goaty on April 27, 2019, 08:05:20 pm
So let me get the constraints on properly,   and that actually might be the prob...
the only other thing is that I haven't handled intersection with the ground properly,  but it might be good enough,  just have to see.

It is actually getting across the floor,   so maybe if I make more postures illegal itll pan out a biped.
Title: Re: my first "walker"
Post by: goaty on April 28, 2019, 01:15:13 am
Had to fix huge dropouts in the code caused by marijuana, but we are getting somewhere.   Its walking on its foot tips now.

https://youtu.be/nz2NwSjn4xo

I think if I add no self collisions it might get me one more step.

[ed.  fixed some more, but ill wait till I upload it again, Ill see if I can get it nicer.]
Title: Re: my first "walker"
Post by: Korrelan on April 28, 2019, 09:11:58 am
Looking cool... though it walks a little like me after a few bevies lol.

As you said, the physics engine has a massive impact on the accuracy of the walkers gaits.

Keep posting the results, it's very interesting.

 :)
Title: Re: my first "walker"
Post by: goaty on April 28, 2019, 11:11:20 am
Keep posting the results, it's very interesting.
 :)

bah its all been seen before.  :D

got the brain done in 1% of the time of actually getting this result.  every little skeric of it adds up to make it look better than it actually is.

https://www.youtube.com/watch?v=6HnMPvNpEP0&feature=youtu.be


//GOAL I USED.
//-------------------------------------------------------------------------------------------------------------------------------
score for absolute nearest to target speed along vector.
make body face towards target vector.  (backflip protection. otherwise u know what these things like to do... continual rolling.)
score for a little body lift, to keep it upright. (keeps it upright like a biped.)

                            then it learns the rest itself.


Making of these is hitting goal tampering head on,  it just constantly happens all processes of the bot. :)

If anyone needs advice on setting up evo walkers-  im not a bad guy to talk to!  :2funny:



Title: Re: my first "walker"
Post by: Korrelan on April 28, 2019, 02:08:27 pm
Quote
bah its all been seen before.

So take it one stage further... give it a torso/ arms, lets have it running around and climbing stairs.

Oh! And make the arena bigger, we don't want it reaching the edge like that last video and becoming the first AI to think the world is flat... no one needs to be that dumb.  ;D

 :)
Title: Re: my first "walker"
Post by: LOCKSUIT on April 28, 2019, 02:16:00 pm
Make it try to reach a girl in a castle guarded by metal ghosts. Girl+food=double reinforcement BONUS. Or money. Life seems to center around THAT. If it sees ghosts, run! Then make it return where it came from. With no damage. If you get it to plan ahead of time you get a medal, and by plan I mean predict, not trial&error. Later, get it to build virtual rockets and build a business. I would have the lights and scene all glorious, you need to make it into a movie!
Title: Re: my first "walker"
Post by: LOCKSUIT on April 28, 2019, 02:22:41 pm
Like THIS:
Title: Re: my first "walker"
Post by: goaty on April 28, 2019, 02:59:07 pm
Make it try to reach a girl in a castle guarded by metal ghosts. Girl+food=double reinforcement BONUS. Or money. Life seems to center around THAT. If it sees ghosts, run! Then make it return where it came from. With no damage. If you get it to plan ahead of time you get a medal, and by plan I mean predict, not trial&error. Later, get it to build virtual rockets and build a business. I would have the lights and scene all glorious, you need to make it into a movie!

Yes, it can do that!   anything you can compute as a metric is possible to motivate it with.
But I think I need to get a good jog out of him first, just to test that hes ready for that kind of action.  (I need a couple of days. ;) )

TO KORRELLAN:=
    Im pretty sure I can get the rest of the robot, all I need is two of them nailed together in the middle and ive got a man with a split personality.  :2funny:
Title: Re: my first "walker"
Post by: goaty on May 01, 2019, 06:11:56 pm
Ok ive got another update on the way.

That joke I said, about giving him two halves ill do,  because I think I get to increase its intelligence, by having a and b!

" (2^(DIMS/SPLITS)^TIMESTEPS)*SPLITS "    INSTEAD OF   " (2^DIMS)^TIMESTEPS "  looks like it gets an advantage by splitting itself.

This should change how hes walking.  Back soon, I just need a bit more of a break, then off I go!
Title: Re: my first "walker"
Post by: goaty on May 02, 2019, 01:24:37 pm
I did it,  and it does have increased "sight", wasn't much different of a style of walking except it took bigger strides. and in one setting at the beginning it jumped along instead of walked, with 1 brain on each leg, but it was uncoordinated how it walked.  I could upload it, but its not that exciting yet, I think I can get it better.

But I think it can actually work.    I think my problem is I haven't described enough context for it to predict properly,  and that means I have to go from a quick array to a more slower method of matching, which includes a bigger key.  At the moment the key is too small, and its confusing its predictions. (double matching)

I think its important to do this,  to A) get more bruteforced at the same cost.  and B) the robot has to have split mindedness to predict the environment anyway, so if I can get the robot predicting its other leg, its a good sign that im ready to add the environment to it.

Ive got my goal written down for the "guard starfish" im going to make,   ive had it for a while,  and I think that you can definitely make some funny things happen with modifying the goal, even adding a state machine to it!   

Ok that's all for now.
Title: Re: my first "walker"
Post by: goaty on May 02, 2019, 03:47:01 pm
Im using a knn memory to store the other leg positions as it goes,  its working, nice and quick and I get a bigger search depth,  but I am having hiccups still...  its worse when its on than when its off,  so I think I need to increase the context.

https://www.youtube.com/watch?v=9CrqBiKVGeQ&feature=youtu.be
Title: Re: my first "walker"
Post by: LOCKSUIT on May 02, 2019, 08:49:56 pm
I expected to see 2 glued together, like a 4-arm. Haha, it walks like a drunkard.
Title: Re: my first "walker"
Post by: goaty on May 02, 2019, 09:07:23 pm
Its a separate brain/search each leg!   that would be confusing no?
I decided to split it down the middle, with 3 dimensions either side.

Its not predicting itself properly,   but its only a 32 bit key,  so im going to bust it up to 1024,  and see if it goes better.   

Its using similarity matching,  not exact matching,  exact matching I think now is only good for symbolic data like text.
Title: Re: my first "walker"
Post by: goaty on May 02, 2019, 10:21:49 pm
https://www.youtube.com/watch?v=nzjT-QJQctI&feature=youtu.be  <-HERE! GOT IT!   it gets to search twice as far as long as my prediction of the opposite side is correct,   and don't think your going to get away with a small key and without near matching.  it has to be fully fledged or it doesn't even work. (im doing things for real now, and all my baby theories are dieing.)

Its cheat sliding against the ground,  so Im going to fix the physics more now.

* REMEMBER BACK FIRE ROTATION -  you push your leg, and it pulls the rest of the body in the opposite direction.
* THE WEIGHT OF THE LIMBS, puts them in a permanent rotation with each other due to gravity.

- and then theres problems with contacting the floor,  like im saying whats happening to me.

[edit] actually, maybe it needs a bit more work...  but its almost as good as the whole bodied one. [/ed]
Title: Re: my first "walker"
Post by: goaty on May 22, 2019, 05:39:33 am
ive switched over to a tendon based system.   looks more complex but theres actually less code than the toothpick one,  which had all these plane tests, knees knocking inside out...   this looks better but his knees are working yet, and it seems to be pinned to the floor.

https://www.youtube.com/watch?v=RneW9SU1IZg

more updates soon...
Title: Re: my first "walker"
Post by: goaty on May 22, 2019, 01:50:56 pm
Tendon based robbers are indeed soft-body, it looks like a jelly fish.
Ok, a bit more work.   all the dims are pulsating when I toggle all the tendons, but for some reason when the search is on, one of the knees goes into remission.
That's just a side problem,   the main problem here is when the hip rotates it rotates the top instead of the leg, and the feet aren't getting traction or push up from the knee.   But its definitely going better,  im still confident this way is easier with less code, I just need to fix it,   ill leave it for now,   give me 2 days and this one will be jogging along nicely.   Im thinking maybe the top part of it needs to be heavier than the hip or the hip will rotate the body instead of the leg.

That means when they make bottom halfs of robots, they need a weight at the centre that connects the legs together,  if its true.

that's it, had enough for the day.

One thing im going to try, is if I make the "tendon cubal" longer, then itll give it more freedom of rotation.   long and skinny bellows go for more angular freedom.

https://www.youtube.com/watch?v=9A22rdkU24Y&feature=youtu.be
Title: Re: my first "walker"
Post by: Korrelan on May 22, 2019, 02:16:44 pm
I think you are doing an excellent job.

Does the physics model include mass inertia?

 :)