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biac simple reward function update

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This commit is contained in:
Maximilian Huettenrauch 2021-04-08 14:03:44 +02:00
parent 744f6eb747
commit 4308607a74
1 changed files with 5 additions and 3 deletions
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8
alr_envs/mujoco/ball_in_a_cup/ball_in_a_cup_reward_simple.py
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@ -33,6 +33,7 @@ class BallInACupReward(alr_reward_fct.AlrReward):
self.dists = [] self.dists = []
self.dists_final = [] self.dists_final = []
self.costs = [] self.costs = []
self.action_costs = []
def compute_reward(self, action, sim, step, context=None): def compute_reward(self, action, sim, step, context=None):
self.ball_id = sim.model._body_name2id["ball"] self.ball_id = sim.model._body_name2id["ball"]
@ -52,9 +53,10 @@ class BallInACupReward(alr_reward_fct.AlrReward):
self.ball_traj[step, :] = ball_pos self.ball_traj[step, :] = ball_pos
action_cost = np.sum(np.square(action)) action_cost = np.sum(np.square(action))
self.action_costs.append(action_cost)
if self.check_collision(sim): if self.check_collision(sim):
reward = - 1e-4 * action_cost - 1000 reward = - 1000
return reward, False, True return reward, False, True
if step == self.sim_time - 1: if step == self.sim_time - 1:
@ -62,10 +64,10 @@ class BallInACupReward(alr_reward_fct.AlrReward):
dist_final = self.dists_final[-1] dist_final = self.dists_final[-1]
cost = 0.5 * min_dist + 0.5 * dist_final cost = 0.5 * min_dist + 0.5 * dist_final
reward = np.exp(-2 * cost) - 1e-4 * action_cost reward = np.exp(-2 * cost) - 1e-3 * action_cost
success = dist_final < 0.05 and ball_in_cup success = dist_final < 0.05 and ball_in_cup
else: else:
reward = - 1e-4 * action_cost reward = - 1e-3 * action_cost
success = False success = False
return reward, success, False return reward, success, False