Iyo kambani yeGoogle "DeepMind" inozivikanwa nekuvandudzwa kwayo mumunda wehungwaru hwekugadzira uye kuvakwa kweneural network inokwanisa kutamba mitambo yemakomputa padanho revanhu, nguva pfupi yadarika yakazivisa injini yekutevedzera maitiro emuviri MuJoCo (Multi-Joint Dynamics neKubata).
Iyo mota tIne chinangwa chekuenzanisa zvimiro zvakatsanangurwa zvinodyidzana nenharaunda, uye inoshandiswa pakuenzanisa mukugadzirwa kwemarobhoti uye artificial intelligence systems, mune imwe nhanho isati yaitwa tekinoroji yakagadzirwa nenzira yechigadzirwa chakapedzwa.
MuJoCo inosvika panzvimbo inotapira nemhando yayo yekusangana, iyo inobata nemazvo uye nemazvo hunhu hwezvinhu zvinosangana. Kufanana nemamwe akaomesesa-muviri simulators, inodzivirira yakanaka deformation panzvimbo yekuonana uye inowanzo mhanya zvakanyanya kupfuura chaiyo-nguva. Kusiyana nemamwe ma simulators, MuJoCo inogadzirisa mauto ekubata uchishandisa iyo convex Gaussian musimboti.
Convexity inovimbisa yakasarudzika mhinduro uye yakanyatsotsanangurwa inverse dynamics. Iyo modhi zvakare inochinjika, ichipa akawanda ma paramita anogona kugadziridzwa kuti afungidzire huwandu hwakawanda hwekusangana zviitiko.
Iyo kodhi yakanyorwa muC / C ++ uye ichaburitswa pasi peiyo Apache 2.0 rezinesi uye ichave nayo rutsigiro rweLinux, Windows uye macOS mapuratifomu. Basa rekuvhura kwemakodhi ese ane chekuita neprojekiti rakarongwa kupedzwa muna 2022, mushure mezvo MuJoCo ichaenda kune yakavhurika yekusimudzira modhi, iyo inoreva mukana wekutora chikamu mukuvandudza kwevamiriri venharaunda.
About MuJoCo
MuJoCo iraibhurari ine yakajairika chinangwa fizikisi simulation injini chii se inogona kushandiswa mukutsvaga nekuvandudza marobhoti, biomechanical zvishandiso uye muchina kudzidza masisitimu, pamwe nekugadzirwa kwemifananidzo, mifananidzo uye mitambo yemakomputa. Iyo injini yekunyepedzera inogadziridzwa kuti iite zvakanyanya uye inogonesa kugadzirisa chinhu padanho rakaderera, uku ichipa kurongeka kwakanyanya uye hupfumi hwekufananidza kugona.
Nekuti akawanda masimulator akagadzirirwa zvinangwa zvakaita semitambo nemabhaisikopo, dzimwe nguva anotora mapfupi anotungamira kugadzikana pane nemazvo. Semuenzaniso, vanogona kufuratira masimba egyroscopic kana kugadzirisa zvakananga kumhanya. Izvi zvinogona kunyanya kukuvadza mumamiriro ekugadzirisa: Sezvo muimbi uye muongorori Karl Sims akatanga kuona, mumiriri wekugadzirisa anogona kukurumidza kuwana nekushandisa izvi kutsauka kubva muchokwadi.
Kusiyana neizvi, MuJoCo ndeyechipiri-kurongeka inoenderera nguva simulator inoshandisa iyo yakazara equations yekufamba. Zvinojairika asi zvisingaite zvenyama senge Newton's Cradle, pamwe neasinganzwisisike senge Dzhanibekov mhedzisiro, zvinongobuda. Pakupedzisira, MuJoCo inonamatira kune equations inotonga nyika yedu.
Mienzaniso inotsanangurwa uchishandisa XML-based MJCF inotsanangura mutauro wechiitiko yakagadzirwa neakazvitsaurira optimization compiler. Pamusoro peMJCF, injini inotsigira kurodha mafaera muUnified Robot Tsanangudzo Format (URDF). MuJoCo inopawo graphical interface yekudyidzana 3D yekuona maitiro ekufananidza uye inomiririra yemhedzisiro uchishandisa OpenGL.
Pakati pezvinhu zvayo zvakakosha, zvinotevera zvinomira pachena:
- Simulation mu generalized coordinates, kubvisa majoint breaks.
- Reverse dynamics, inoonekwa kunyangwe paine kuonana.
- Kushandiswa kweconvex programming yekubatanidza kuumbwa kwezvipingamupinyi munguva inoenderera.
- Kugona kuseta zvirambidzo zvakasiyana, zvinosanganisira kubata kwakapfava uye kukakavara kwakaoma.
- Simulation ye particle masisitimu, matishu, tambo uye zvinyoro zvinhu.
- Actuators (actuator), kusanganisira motors, silinda, mhasuru, tendon, uye crank michina.
- Zvirongwa zvekugadzirisa zvinoenderana nemaitiro aNewton, conjugate gradient uye Gauss-Seidel.
- Mikana yekushandisa pyramidal kana elliptical friction cones.
- Kushandisa sarudzo yeEuler kana Runge-Kutta nhamba dzekubatanidza nzira.
- Discretization uye multiprocess approximation neinogumira mutsauko nzira.
Chekupedzisira, kana iwe uchifarira kuziva zvakawanda nezvazvo, unogona kutarisa ruzivo Mune inotevera chinongedzo.