Tuesday, March 08, 2011

Balancing Three Carts

Same as my previous post, except this time with three carts, and the following changes in experimental setup:

First, the forces applied to the carts have been switched to continuous rather than "bang-bang".

Second, the random number generator is being seeded such that the fitness evaluations are always performed over the same set of 10 initial conditions (previously, it had been given an entirely new set of 10 for each evaluation). The advantage is that this greatly reduces noise in the fitness evaluation function. This does have the drawback of potentially harming generalization to some degree, although in this particular case I don't think it is really much of an issue.

Now to try four...

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