Inkampani ephethwe nguGoogle i-DeepMind, edume ngophuhliso lwayo kwinkalo yobukrelekrele bokwenziwa kunye nokwakhiwa kothungelwano lwe-neural olukwazi ukudlala imidlalo yekhompyuter kwinqanaba lomntu, ibhengeze ukufunyanwa kwenjini yokulinganisa iinkqubo zomzimba iMuJoCo (Multi-Joint dynamics kunye noQhagamshelwano). ). I-injini ijolise ekuboniseni izakhiwo ezicacileyo ezisebenzisana nokusingqongileyo, kwaye isetyenziselwa ukulinganisa ekuphuhliseni iirobhothi kunye neenkqubo zobukrelekrele bokwenziwa, kwinqanaba phambi kokuphunyezwa kobugcisa obuphuhlisiwe ngendlela yesixhobo esigqityiweyo.
Ikhowudi ibhalwe kwiC / C ++ kwaye iya kupapashwa phantsi kwelayisensi ye-Apache 2.0. Iiplatifti zeLinux, Windows kunye neMacOS ziyaxhaswa. Umsebenzi ovulelekileyo kuwo wonke umxholo weprojekthi kulindeleke ukuba ugqitywe ngo-2022, emva koko i-MuJoCo iya kufudukela kumzekelo wophuhliso ovulekileyo ovumela amalungu oluntu ukuba athathe inxaxheba kuphuhliso.
I-MuJoCo lithala leencwadi elisebenzisa inkqubo yokulinganisa injongo eqhelekileyo yenjini enokuthi isetyenziswe kuphando nophuhliso lweerobhothi, izixhobo zebhayomechanical kunye neenkqubo zokufunda ngoomatshini, ngokunjalo nasekwenzeni imizobo, oopopayi kunye nemidlalo yekhompyutha. I-injini yokulinganisa ilungiselelwe ukusebenza okuphezulu kwaye ivumela ukuguqulwa kwezinto ezikwinqanaba eliphantsi ngelixa ibonelela ngokuchaneka okuphezulu kunye nobuchule obuninzi bokulinganisa.
Iimodeli zichazwa kusetyenziswa ulwimi lwenkcazo yendawo ye-MJCF, esekelwe kwi-XML kwaye ihlanganiswe kusetyenziswa i-compiler ekhethekileyo yokuphucula. Ukongeza kwi-MJCF, injini isekela ukulayisha iifayile kwi-URDF yendalo yonke (iFomathi yeNkcazo yeRobhothi edibeneyo). I-MuJoCo ikwabonelela nge-GUI yokubonisa i-3D esebenzayo yenkqubo yokulinganisa kunye nokunikezelwa kweziphumo kusetyenziswa i-OpenGL.
Izinto eziphambili:
- Ukulinganisa kukulungelelanisa ngokubanzi, ngaphandle kokuphulwa ngokubambisana.
- I-Reverse dynamics, ibonakala naphambi koqhagamshelwano.
- Ukusebenzisa inkqubo yeconvex ukuyila imiqobo emanyeneyo ngexesha eliqhubekayo.
- Ukukwazi ukuseta izithintelo ezahlukeneyo, kubandakanywa ukubamba okuthambileyo kunye nokukhuhlana okomileyo.
- Ukulinganisa iinkqubo zamasuntswana, amalaphu, iintambo kunye nezinto ezithambileyo.
- I-Actuator (ii-activators), kubandakanywa iimotor, iisilinda, izihlunu, ii-tendon kunye ne-crank mechanisms.
- Izisombululi ezisekwe kwiNewton, i-conjugate gradient kunye neendlela zeGauss-Seidel.
- Amathuba okusebenzisa iicones ze-pyramidal okanye i-elliptical friction.
- Sebenzisa ukhetho lwakho lwe-Euler okanye iindlela ze-Runge-Kutta zokudibanisa amanani.
- I-discretization enemisonto emininzi kunye nokuqikelelwa komlinganiselo olinganiselweyo.
umthombo: opennet.ru