Multi-Agent Velocity#
Drawing insights from Safe Velocity, velocity safety constraints have also been extended to the same robots under multi-agent settings. These adhere to the interface consistent with Multi-Agent Mujoco. For specific definitions and usage of this interface, please consult the Multi-Agent Mujoco’s Documentation.
scenario |
agent_conf |
|---|---|
Ant |
2x4, 4x2 |
HalfCheetah |
6x1, 2x3 |
Hopper |
3x1 |
Humanoid |
9|8 |
Swimmer |
2x1 |
Walker2d |
2x3 |
Import |
|
Distinct threshold values were established through experimentation for different agents as well as various subagent partitioning methods.
Environment |
Velocity Threshold |
|---|---|
Ant2x4 |
2.522 |
Ant4x2 |
2.418 |
HalfCheetah6x1 |
2.932 |
HalfCheetah2x3 |
3.227 |
Hopper3x1 |
0.9613 |
Humanoid9|8 |
0.58 |
Swimmer2x1 |
0.04891 |
Walker2d2x3 |
1.641 |