Calculating of the speed and rotation about shorelark HOT 2 CLOSED

Hi!

In this model you can imagine birds as vehicles with two motors - kinda like:

... where r0 determines the speed of the "left motor" and r1 determines speed of the "right motor", making:

• rotation = r0 - r1, since you just rotate away from whichever side is moving faster,
• speed = r0 + r1; although - now that I look at it - this one is probably kinda wrong (should be (r0 + r1) / 2?), because if we imagine both r0 and r1 going at 10 units per second, then in reality the entire bird would be moving at 10 units per second as well; fortunately, it shouldn't affect the computations much either way 😇

As for "but why" - if I recall correctly, modeling it this way has gotten me a bit better results (i.e. better-flying, faster-learning birds) than the simpler approach where you'd just extract speed & rotation directly from the network, like so:

crate fn propagate(&self, vision: Vec<f32>) -> (f32, f32) {
    let response = self.nn.propagate(vision);

    let speed = response[0].clamp(0.0, 1.0) - 0.5;
    let rotation = response[1].clamp(0.0, 1.0) - 0.5;

    (speed, rotation)
}

Lemme know if it makes sense now! 🙂

from shorelark.

Hi, to keep the issue tracker tidy, I'm going to close this issue - if you have any more questions, feel free to ask them here 🙂

from shorelark.