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fix hopper jump reward bug

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Onur 2022-07-07 10:55:36 +02:00
parent fc00cf8a87
commit 78edfb8da7
1 changed files with 2 additions and 3 deletions
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5
alr_envs/alr/mujoco/hopper_jump/hopper_jump.py
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@ -90,10 +90,9 @@ class HopperJumpEnv(HopperEnv):
rewards = 0 rewards = 0
if not self.sparse or (self.sparse and self._steps >= MAX_EPISODE_STEPS_HOPPERJUMP): if not self.sparse or (self.sparse and self._steps >= MAX_EPISODE_STEPS_HOPPERJUMP):
healthy_reward = self.healthy_reward healthy_reward = self.healthy_reward
distance_reward = goal_dist * self._dist_weight distance_reward = -goal_dist * self._dist_weight
height_reward = (self.max_height if self.sparse else self.get_body_com("torso")[2]) * self._height_weight height_reward = (self.max_height if self.sparse else self.get_body_com("torso")[2]) * self._height_weight
contact_reward = (self.contact_dist or 5) * self._contact_weight contact_reward = -(self.contact_dist or 5) * self._contact_weight
# dist_reward = self._forward_reward_weight * (-3 * goal_dist + 10 * self.max_height - 2 * contact_dist)
rewards = self._forward_reward_weight * (distance_reward + height_reward + contact_reward + healthy_reward) rewards = self._forward_reward_weight * (distance_reward + height_reward + contact_reward + healthy_reward)
observation = self._get_obs() observation = self._get_obs()