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This commit is contained in:
Maximilian Huettenrauch
2021-02-15 16:31:34 +01:00
parent 77d0cbd00a
commit 0916daf3b5
5 changed files with 49 additions and 54 deletions
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alr_envs/mujoco/ball_in_a_cup/ball_in_a_cup_reward_simple.py
+3 -3
View File
@@ -54,7 +54,7 @@ class BallInACupReward(alr_reward_fct.AlrReward):
action_cost = np.sum(np.square(action))
if self.check_collision(sim):
reward = - 1e-5 * action_cost - 1000
reward = - 1e-4 * action_cost - 1000
return reward, False, True
if step == self.sim_time - 1:
@@ -62,10 +62,10 @@ class BallInACupReward(alr_reward_fct.AlrReward):
dist_final = self.dists_final[-1]
cost = 0.5 * min_dist + 0.5 * dist_final
reward = np.exp(-2 * cost) - 1e-5 * action_cost
reward = np.exp(-2 * cost) - 1e-4 * action_cost
success = dist_final < 0.05 and ball_in_cup
else:
reward = - 1e-5 * action_cost
reward = - 1e-4 * action_cost
success = False
return reward, success, False
alr_envs/mujoco/ball_in_a_cup/utils.py
+13 -13
View File
@@ -1,4 +1,4 @@
from alr_envs.utils.dmp_env_wrapper import DmpEnvWrapper
from alr_envs.utils.detpmp_env_wrapper import DetPMPEnvWrapper
from alr_envs.mujoco.ball_in_a_cup.ball_in_a_cup import ALRBallInACupEnv
from alr_envs.mujoco.ball_in_a_cup.ball_in_a_cup_simple import ALRBallInACupEnv as ALRBallInACupEnvSimple
@@ -20,18 +20,18 @@ def make_simple_env(rank, seed=0):
def _init():
env = ALRBallInACupEnvSimple()
env = DmpEnvWrapper(env,
policy_type="motor",
start_pos=env.start_pos[1::2],
final_pos=env.start_pos[1::2],
num_dof=3,
num_basis=8,
duration=3.5,
alpha_phase=3,
post_traj_time=4.5,
dt=env.dt,
learn_goal=False,
weights_scale=50)
env = DetPMPEnvWrapper(env,
num_dof=3,
num_basis=5,
width=0.005,
policy_type="motor",
start_pos=env.start_pos[1::2],
duration=3.5,
post_traj_time=4.5,
dt=env.dt,
weights_scale=0.1,
zero_centered=True
)
env.seed(seed + rank)
return env