Verve Apps, version r513

All applications use Verve (http://verve-agents.sourceforge.net), Opal (http://opal.sourceforge.net) and ODE (http://www.ode.org) for physics, and Ogre (http://www.ogre3d.org) for graphics.  The Curious Robot Playground uses Audiere (http://audiere.sourceforge.net) for sound effects.

- Tyler Streeter, http://www.tylerstreeter.net


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Application Descriptions
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Pendulum
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A physically-simulated pendulum is controlled by a Verve agent. Based on simple reinforcement signals (+1 when the pendulum is close to vertical, -1 otherwise), the agent learns to swing the pendulum upright and balance it after about 60 trials.

Cart-pole
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 A physically-simulated cart is controlled by a Verve agent (http://verve-agents.sourceforge.net) in order to balance an attached pole.  Based on simple reinforcement signals (-1 when the pole falls over or the cart goes off the edge of the platform, +1 otherwise), the agent learns to balance the pole for 30 minutes after about 600 trials.

Curious Robot Playground
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A colorful playground provides learning opportunities for a simulated curious robot. This arena includes a seesaw, a merry-go-round, and several other toys.

The small blue robot, which is fully autonomous, is motivated by a curiosity drive. As it explores, it grows bored and seeks novelty. It's curiosity level is indicated by the green sphere above it, which grows and shrinks as it moves about. The large blue robot is driven by a human. This provides one method of interaction with the curious robot. Also, the user can grasp objects in the environment with a spring cursor. In this way the user can push the curious robot into new, interesting situations.

Both robots are physically realistic, with front wheel drive, front wheel steering, and geared motors. The autonomous robot uses 3 laser rangefinders and an accelerometer. 


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Instructions
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To move objects with the "spring cursor," left-click and drag them.

arrow keys: move the camera
mouse motion: rotate the camera
'wasd' keys or joystick/gamepad input: drive the large blue robot (Curious Robot Playground only)
p: pause
q or escape: quit
h: toggle shadows
l: toggle a second light source
g: toggle trial counter, runtime performance monitor, and verve agent probe
'print screen' key: save a screenshot
1: simulate as fast as possible
2: simulate at 1X real-time
3: simulate at 1/2X real-time
4: simulate at 1/4X real-time
5: simulate at 1/8X real-time
6: simulate at 2X real-time
7: simulate at 4X real-time
8: simulate at 8X real-time
