decrease extreme explorationin training

README.md

@@ -144,17 +144,7 @@ The machine learning system trains the hexapod to move using a combination of Be
 
 ### ML Workflow Steps
 
-The policy input contains:
+The machine learning system trains the hexapod to move using a combination of Behavioral Cloning (BC) (optional) and Proximal Policy Optimization (PPO) driven by a multi-phase curriculum.
-
-* 18 joint angles from the robot, and
-* 4 command dimensions describing the desired motion direction and yaw rate.
-
-The policy output is:
-
-* 18 continuous values, one per joint, describing how much each joint should change.
-
-This means the learning method is not controlling a discrete gait state directly. Instead, it learns a continuous control policy for the whole body.
-
 #### Methods implemented
 
 The current ML stack uses:
@@ -307,5 +297,4 @@ In multi-robot vectorized training (`JackBotEnv`), individual robot failures are
 
 When training with `--gui`, `JackBotEnv` includes dynamic visual feedback mechanisms:
 
-* **Metrics HUD:** A live on-screen text overlay tracking active episode count, total step rate (FPS), average base height, roll/pitch angles, and cumulative per-robot rewards.
+* **Metrics HUD:** A live on-screen text overlay tracking active episode count, total step rate (FPS), average base height, roll/pitch angles, and cumulative per-robot rewards.
-* **Leader Crown ($\text{👑}$):** A floating crown debug indicator tracks and positions itself directly above the base of whichever robot is achieving the highest cumulative reward in the multi-robot grid.

Robot.py

@@ -188,11 +188,7 @@ class Robot:
             self.current_state = STATE_REGISTRY[next_state_key]
             self.current_state.enter(self)
 
-    def tick(self, action: Optional[np.ndarray] = None) -> None:
+    def tick(self, action: Optional[np.ndarray] = None, physics_substeps: int = 4) -> None:
-        """
-        Unified control loop tick.
-        Processes commands through direct RL, residual RL, or State Machine kinematics.
-        """
         vx, vy, omega = self.vector_dirmov
 
         if self.mode == "direct":
@@ -204,12 +200,12 @@ class Robot:
             if action is not None:
                 self.apply_rl_action_delta(action)
 
-        else:  # "kinematics" / standard State Machine execution
+        else:  # kinematics mode
-            next_state_key = self.current_state.execute(self)
+            self.step_kinematic_gait(vx, vy, omega)
-            if next_state_key:
-                self.transition_to(next_state_key)
 
-        self.step_sim()
+        # Step PyBullet engine sub-steps to allow physics actuation
+        for _ in range(physics_substeps):
+            self.step_sim()
 
     def step_kinematic_gait(self, vx: float, vy: float, omega: float) -> None:
         """Procedural Tripod Gait solver."""
@@ -265,9 +261,17 @@ class Robot:
         self.set_joint_angles(target_rad)
 
     def apply_rl_action(self, action: np.ndarray) -> None:
-        action = np.asarray(action, dtype=np.float32)
+        """
-        new_rad = dt.RadArray(data=action.reshape(self.current_rad.data.shape))
+        Applies direct RL joint action deltas to the current joint positions.
-        self.set_joint_angles(new_rad)
+        """
+        action_flat = np.asarray(action, dtype=np.float32).flatten()
+        
+        # Keep internal memory updated in (6, 3) format for Kinematic/IK math
+        self.current_rad = dt.RadArray(data=action_flat.reshape(6, 3))
+
+        # Send target positions to the PyBullet backend
+        if self.backend:
+            self.backend.send_angles(self.current_rad)
 
     def apply_rl_action_delta(self, action: np.ndarray) -> None:
         """Applies action deltas on top of joint state for Residual RL."""

ml/env.py

@@ -184,7 +184,19 @@ class JackBotEnv(gym.Env):
         return self._get_obs(), {}
 
     def _get_obs(self) -> np.ndarray:
-        return self.robot.get_observation(command=self.command)
+        # Read raw joint angles from backend
+        raw_angles = np.asarray(self.robot.backend.get_joint_angles(), dtype=np.float32).flatten()
+
+        min_lim = self.min_joint_limits.flatten()
+        max_lim = self.max_joint_limits.flatten()
+
+        # Map raw joint radians [min, max] -> normalized [-1, 1]
+        normalized_joints = 2.0 * (raw_angles - min_lim) / (max_lim - min_lim) - 1.0
+        normalized_joints = np.clip(normalized_joints, -1.0, 1.0)
+
+        # Concatenate normalized joints with active command vector
+        obs = np.concatenate([normalized_joints, self.command]).astype(np.float32)
+        return obs
 
     def step(self, action: np.ndarray) -> Tuple[np.ndarray, float, bool, bool, Dict[str, Any]]:
         previous_action = self.last_action.copy()
@@ -194,25 +206,36 @@ class JackBotEnv(gym.Env):
         self.last_last_action = self.last_action.copy()
         self.last_action = action.copy()
 
-        # Command resampling
+        # Command resampling ONLY if random_command is True
-        if self.random_command and (self.step_count >= self.next_cmd_resample_step or self._curriculum_advanced):
+        if self.random_command and (
+            self.step_count >= self.next_cmd_resample_step or self._curriculum_advanced):
             self.command = self.sample_command()
             random_interval = np.random.randint(self.min_cmd_hold_steps, self.max_cmd_hold_steps + 1)
             self.next_cmd_resample_step = self.step_count + random_interval
 
-        # Extract [vx, vy, omega]
+        # Extract active [vx, vy, omega]
         cmd_vx, cmd_vy, cmd_omega = self.command
 
-        # Mirror main.py input resolution logic: update robot_state and vector_dirmov directly
+        # Mirror input resolution logic to keep robot state synchronized
         self.robot.robot_state = "walking" if (abs(cmd_vx) > 0.01 or abs(cmd_vy) > 0.01 or abs(cmd_omega) > 0.01) else "idle"
         self.robot.vector_dirmov = [float(cmd_vx), float(cmd_vy), float(cmd_omega)]
-        
+
-        joint_range = np.minimum(
+        # Direct Mode: Target joint scaling
-            self.default_joint_angles - self.min_joint_limits,
+        action_flat = np.asarray(action, dtype=np.float32).flatten()
-            self.max_joint_limits - self.default_joint_angles
+        action_clipped = np.clip(action_flat, -1.0, 1.0)
-        )
+
-        target_angles = self.default_joint_angles + action * joint_range
+        if self.robot_mode == "direct":
-        self.robot.tick(action=target_angles)
+            # Map [-1, 1] linearly to physical joint limits [min, max]
+            min_lim = self.min_joint_limits.flatten()
+            max_lim = self.max_joint_limits.flatten()
+            
+            target_angles = min_lim + (action_clipped + 1.0) * 0.5 * (max_lim - min_lim)
+        else:
+            # Residual mode mapping logic
+            target_angles = self.default_joint_angles.flatten() + action_clipped * 0.20
+
+        # Apply target joint angles to physics engine
+        self.robot.tick(action=target_angles, physics_substeps=4)
 
         if self.robot_mode != "kinematics" and self.step_count % 60 == 0:
             random_force = np.random.uniform(-2.0, 2.0, size=2)
@@ -222,8 +245,9 @@ class JackBotEnv(gym.Env):
         self._update_distance_metrics()
         self._update_curriculum()
 
+        # Build next observation preserving active command
         obs = self._get_obs()
-        reward = self._compute_reward(action, previous_action)
+        reward = self._compute_reward(action_flat, previous_action)
 
         self.cumulative_reward += reward
         self.robot_reward += reward
@@ -235,6 +259,9 @@ class JackBotEnv(gym.Env):
         if self.step_count % 120 == 0 and self.use_gui:
             self._update_hud()
 
+        if self.use_gui:
+            time.sleep(1.0 / self.control_freq)
+
         return obs, reward, terminated, truncated, info
 
     def _update_distance_metrics(self):

ml/pretrain_bc.py

@@ -21,7 +21,8 @@ def collect_kinematics_dataset(num_samples: int = 100_000, use_gui: bool = False
     """Collects (Observation, Action) pairs directly from Kinematics Teacher."""
     print(f"\n[Pretrain] Collecting {num_samples} samples from Kinematics Teacher (GUI={use_gui})...")
     
-    env = JackBotEnv(use_gui=use_gui, robot_mode="kinematics")
+    # Disable random command resampling inside env.step so manual command locks persist
+    env = JackBotEnv(use_gui=use_gui, robot_mode="kinematics", random_command=False)
     env.curriculum_phase = CurriculumPhase.FULL_COMMAND
 
     observations = []
@@ -32,39 +33,41 @@ def collect_kinematics_dataset(num_samples: int = 100_000, use_gui: bool = False
     # --- PROGRESS BAR: Data Collection ---
     pbar = tqdm(range(num_samples), desc=" Collecting Data", unit="step")
     for i in pbar:
-        # 1. Sample random movement command
+        # 1. Update command and vector targets every 120 steps
         if i % 120 == 0:
             env.command = env.sample_command()
+            cmd_vx, cmd_vy, cmd_omega = env.command
+            env.robot.robot_state = (
+                "walking"
+                if (abs(cmd_vx) > 0.01 or abs(cmd_vy) > 0.01 or abs(cmd_omega) > 0.01)
+                else "idle"
+            )
+            env.robot.vector_dirmov = [float(cmd_vx), float(cmd_vy), float(cmd_omega)]
 
-        # 2. Let Robot compute Kinematics target angles
+        # 2. Capture observation BEFORE stepping environment
-        cmd_vx, cmd_vy, cmd_omega = env.command
+        current_obs = env._get_obs()
-        env.robot.robot_state = "walking" if (abs(cmd_vx) > 0.01 or abs(cmd_vy) > 0.01 or abs(cmd_omega) > 0.01) else "idle"
+
-        env.robot.vector_dirmov = [float(cmd_vx), float(cmd_vy), float(cmd_omega)]
+        # 3. Step environment ONCE (updates kinematics solver, PyBullet physics, and computes IK)
-        
+        obs, _, terminated, truncated, _ = env.step(np.zeros(18, dtype=np.float32))
-        # Advance internal IK tick to calculate joint angles
+
-        env.robot.tick()
+        # 4. Extract procedural IK joint targets computed during this step
-        
-        # Extract .data and flatten (6, 3) matrix to 18-dim 1D array
         target_ik_rad = env.robot.current_rad.data.flatten().copy()
 
-        # 3. Convert target angles back to normalized [-1, 1] action space
+        # Step 5: Convert target radians directly to [-1, 1] relative to joint limits
-        normalized_action = np.where(
+        min_lim = env.min_joint_limits.flatten()
-            target_ik_rad >= env.default_joint_angles,
+        max_lim = env.max_joint_limits.flatten()
-            (target_ik_rad - env.default_joint_angles) / np.maximum(1e-5, env.max_joint_limits - env.default_joint_angles),
+
-            (target_ik_rad - env.default_joint_angles) / np.maximum(1e-5, env.default_joint_angles - env.min_joint_limits)
+        normalized_action = 2.0 * (target_ik_rad - min_lim) / (max_lim - min_lim) - 1.0
-        )
         normalized_action = np.clip(normalized_action, -1.0, 1.0)
 
-        # 4. Save sample
+        # Step 6: Store matching input (obs) and target ground truth (normalized_action)
-        observations.append(obs.copy())
+        observations.append(current_obs.copy())
         actions.append(normalized_action.copy())
 
-        # Step simulation environment
-        obs, _, terminated, truncated, _ = env.step(normalized_action)
-
         if use_gui:
             time.sleep(1.0 / 60.0)
 
+        # 7. Handle episode boundaries using terminated and truncated
         if terminated or truncated:
             obs, _ = env.reset()
 

ml/run_eval.py

@@ -33,11 +33,12 @@ def main():
         use_gui=args.gui,
         random_command=False,
         max_episode_steps=args.max_steps_per_episode,
+        robot_mode="direct"
     )
 
     # Multi-Phase Configurations Suite
     phase_configs = [
-        (CurriculumPhase.STAND_ONLY,          "STAND",                 np.array([0.0, 0.0, 0.0], dtype=np.float32)),
+        #(CurriculumPhase.STAND_ONLY,          "STAND",                 np.array([0.0, 0.0, 0.0], dtype=np.float32)),
         (CurriculumPhase.FORWARD,             "FORWARD GAIT",           np.array([1.0, 0.0, 0.0], dtype=np.float32)),
         (CurriculumPhase.TURN_AND_DIRECTION,  "FORWARD + YAW TURN",     np.array([0.5, 0.0, 0.4], dtype=np.float32)),
         (CurriculumPhase.OMNI_DIRECTION,      "STRIDE LATERAL",         np.array([0.5, 0.5, 0.0], dtype=np.float32)),
@@ -62,9 +63,18 @@ def main():
             for ep in range(args.episodes_per_phase):
                 obs, _ = env.reset()
 
-                # Force environment into active curriculum phase and lock command
+                # Force environment into active curriculum phase and lock command BEFORE getting obs
                 env.curriculum_phase = phase_enum
                 env.command = test_cmd.copy()
+                cmd_vx, cmd_vy, cmd_omega = test_cmd
+                env.robot.robot_state = (
+                    "walking"
+                    if (abs(cmd_vx) > 0.01 or abs(cmd_vy) > 0.01 or abs(cmd_omega) > 0.01)
+                    else "idle"
+                )
+                env.robot.vector_dirmov = [float(cmd_vx), float(cmd_vy), float(cmd_omega)]
+
+                # Get correct observation with test_cmd attached
                 obs = env._get_obs()
 
                 done = False
@@ -72,12 +82,10 @@ def main():
                 steps = 0
 
                 while not done:
-                    # Enforce locked command each step
-                    env.command = test_cmd.copy()
-
                     # Predict deterministic action from policy
                     action, _ = model.predict(obs, deterministic=True)
                     
+                    # Step environment
                     obs, reward, terminated, truncated, _ = env.step(action)
                     done = terminated or truncated
 

ml/run_eval_training.py

@@ -21,7 +21,7 @@ def evaluate_kinematics(episode_length: int = 1000):
     print("=" * 70 + "\n")
 
     phase_configs = [
-        (CurriculumPhase.STAND_ONLY,           "STAND",              np.array([1.0, 0.0, 0.0], dtype=np.float32)),
+        (CurriculumPhase.STAND_ONLY,          "STAND",               np.array([1.0, 0.0, 0.0], dtype=np.float32)),
         (CurriculumPhase.FORWARD,             "FORWARD GAIT",        np.array([1.0, 0.0, 0.0], dtype=np.float32)),
         (CurriculumPhase.TURN_AND_DIRECTION,  "FORWARD + YAW TURN",  np.array([0.5, 0.0, 0.4], dtype=np.float32)),
         (CurriculumPhase.OMNI_DIRECTION,      "STRIDE LATERAL",      np.array([0.5, 0.5, 0.0], dtype=np.float32)),

ml/run_train.py

@@ -86,7 +86,12 @@ def main():
         model = PPO.load(
             args.pretrained_model,
             env=vec_env,
-            learning_rate=1e-4,  # Lower learning rate so RL fine-tunes without destroying base gait
+            learning_rate=5e-5,  # Lower learning rate so RL fine-tunes without destroying base gait
+            ent_coef=0.0,
+            target_kl=0.05,
+            vf_coef=0.5,
+            max_grad_norm=0.5,
+            verbose=2,
             tensorboard_log=args.log_dir,
             device="cpu",
         )
@@ -95,22 +100,22 @@ def main():
         model = PPO(
             policy="MlpPolicy",
             env=vec_env,
-            learning_rate=1e-4,
+            learning_rate=5e-5,
             n_steps=256,
             batch_size=256,
             n_epochs=10,
             gamma=0.99,
             gae_lambda=0.95,
             clip_range=0.2,
-            ent_coef=0.01,
+            ent_coef=0.0,
             target_kl=0.05,
             vf_coef=0.5,
             max_grad_norm=0.5,
-            verbose=1,
+            verbose=2,
             tensorboard_log=args.log_dir,
             device="cpu",
         )
-
+    model.policy.log_std.data.fill_(-2.0)
     # Setup Callbacks with ppo<number> naming
     checkpoint_callback = CheckpointCallback(
         save_freq=max(1, args.save_freq // args.num_workers),
@@ -127,7 +132,7 @@ def main():
         eval_env,
         best_model_save_path=best_model_path,
         log_path="ml/logs/results",
-        eval_freq=max(1, 20_000 // args.num_workers),
+        eval_freq=max(1, 50_000 // args.num_workers),
         deterministic=True,
         render=False,
     )

simulation.py

@@ -85,7 +85,7 @@ class Simulation:
                 force=30,
                 physicsClientId=self.physics_client
             )
-
+            
     def hard_reset_joint_angles(self, target_angles: Union[np.ndarray, dt.RadArray]) -> None:
         """Instantly teleports joint angles to target positions, clearing velocity state."""
         radflat = target_angles.data.flatten() if isinstance(target_angles, dt.RadArray) else target_angles.flatten()