updates

2021-02-17 17:48:05 +01:00
parent 420fe10506
commit 46fc642c36
6 changed files with 23 additions and 26 deletions
@@ -71,10 +71,10 @@ class BallInACupReward(alr_reward_fct.AlrReward):
            dist_ctxt = self.dists_ctxt[-1]

            # cost = self._get_stage_wise_cost(ball_in_cup, min_dist, dist_final, dist_ctxt)
-            cost = 2 * (0.33 * min_dist + 0.33 * dist_final + 0.33 * dist_ctxt)
+            cost = 2 * (0.5 * min_dist + 0.5 * dist_final + 0.1 * dist_ctxt)
            reward = np.exp(-1 * cost) - 1e-4 * action_cost
            stop_sim = True
-            success = dist_final < 0.05 and ball_in_cup
+            success = dist_final < 0.05 and dist_ctxt < 0.05
        else:
            reward = - 1e-4 * action_cost
            success = False