Kampani ya Google ya DeepMind, yotchuka chifukwa cha chitukuko chake pazanzeru zopanga komanso kupanga ma neural network omwe amatha kusewera masewera apakompyuta pamlingo wamunthu, adalengeza za kupezeka kwa injini yofananiza njira zakuthupi MuJoCo (Multi-Joint dynamics with Contact. ). Injiniyo imayang'ana kufananiza zida zomwe zimagwirizana ndi chilengedwe, ndipo imagwiritsidwa ntchito poyerekezera pakupanga ma roboti ndi machitidwe anzeru zopangira, pasiteji isanakhazikitsidwe ukadaulo wopangidwa mwa mawonekedwe a chipangizo chomalizidwa.
Khodiyo idalembedwa mu C/C++ ndipo idzasindikizidwa pansi pa chilolezo cha Apache 2.0. Mapulatifomu a Linux, Windows ndi macOS amathandizidwa. Ntchito yotseguka pa zonse zomwe zili mu pulojekitiyi ikuyembekezeka kumalizidwa mu 2022, pambuyo pake MuJoCo idzakhala ndi chitukuko chotseguka chomwe chimalola anthu ammudzi kutenga nawo mbali pa chitukuko.
MuJoCo ndi laibulale yomwe imagwiritsa ntchito injini yoyeserera yokhazikika yomwe ingagwiritsidwe ntchito pofufuza ndi kupanga maloboti, zida za biomechanical ndi makina ophunzirira makina, komanso kupanga zithunzi, makanema ojambula pamanja ndi masewera apakompyuta. Injini yoyeserera imakonzedwa kuti igwire bwino ntchito ndipo imalola kuwongolera kwapang'onopang'ono pomwe ikupereka kulondola kwambiri komanso kuthekera koyerekeza kolemera.
Zitsanzo zimatanthauzidwa pogwiritsa ntchito chilankhulo chofotokozera za mawonekedwe a MJCF, chomwe chimakhazikitsidwa pa XML ndikupangidwa pogwiritsa ntchito makina apadera okhathamiritsa. Kuphatikiza pa MJCF, injiniyo imathandizira kutsitsa mafayilo mu URDF yapadziko lonse (Unified Robot Description Format). MuJoCo imaperekanso GUI yowonetsera masewero a 3D a kayeseleledwe kachitidwe ndi kupereka zotsatira pogwiritsa ntchito OpenGL.
Zofunikira zazikulu:
- Kuyerekezera m'makonzedwe amtundu uliwonse, osaphatikizapo kuphwanya mgwirizano.
- Zosintha zosinthika, zowoneka ngakhale pamaso pa kukhudzana.
- Kugwiritsa ntchito pulogalamu ya convex kupanga zopinga zolumikizana munthawi yopitilira.
- Kutha kukhazikitsa zoletsa zosiyanasiyana, kuphatikiza kukhudza kofewa komanso kukangana kowuma.
- Kuyerekezera kachitidwe ka tinthu, nsalu, zingwe ndi zinthu zofewa.
- Ma actuators (ma actuators), kuphatikiza ma motors, masilindala, minofu, tendon ndi ma crank mechanisms.
- Ma Solvers otengera Newton, conjugate gradient ndi njira za Gauss-Seidel.
- Kuthekera kogwiritsa ntchito piramidi kapena elliptical friction cones.
- Gwiritsani ntchito njira zophatikizira manambala za Euler kapena Runge-Kutta.
- Multi-threaded discretization ndi kuyerekeza kusiyana komaliza.
Source: opennet.ru