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Restructuring Ideas #279

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JonasFrey96 opened this issue Sep 5, 2023 · 0 comments
Open

Restructuring Ideas #279

JonasFrey96 opened this issue Sep 5, 2023 · 0 comments

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@JonasFrey96
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Objective:

  • Simplify code
  • Clearer interfaces and responsibilities of components
  • Support other geometric primitives for reprojection e.g. individual footholds
  • Support more supervision signals - e.g: binary, velocity tracking, locomotion reward, physical properties
  • Support for supervision on images (current), top-down view maps

Main - Sugggestion:

  • Splitting the learning node into a supervision signal node and a learning node
  • Learning node keeps the two graphs but now for the proprioceptive graph we directly replace it with a geometry primitivas graph - messages are sent to the learning node containing geometries and multiple supervision signals extracted by the supervision signal node - this can be interpreted as adding more responsibility to the ANYmal Converter Node.
  • Providing a clearer interface of how to implement different neural networks
  • Reworking the configuration such that all ros configurations are also part of the ExperimentParam

To be discussed - If we implement it like this everything strongly depends on ros which is also not so desirable for all the message passing - is there a way to joing the best of both worlds :/

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