dodox/mujoco_maze
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Renew SubgoalBilliard (again)

Browse Source
This commit is contained in:
kngwyu 2020-10-01 00:05:20 +09:00
parent d6a96021d2
commit 0ec69ab4e2
1 changed files with 21 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

34
mujoco_maze/maze_task.py
View File

@ -198,9 +198,9 @@ class GoalReward2Rooms(MazeTask):
PENALTY: float = -0.0001 PENALTY: float = -0.0001
MAZE_SIZE_SCALING: Scaling = Scaling(4.0, 4.0, 4.0) MAZE_SIZE_SCALING: Scaling = Scaling(4.0, 4.0, 4.0)
def __init__(self, scale: float) -> None: def __init__(self, scale: float, goal: Tuple[int, int] = (4.0, -2.0)) -> None:
super().__init__(scale) super().__init__(scale)
self.goals = [MazeGoal(np.array([0.0, 4.0 * scale]))] self.goals = [MazeGoal(np.array(goal) * scale)]
def reward(self, obs: np.ndarray) -> float: def reward(self, obs: np.ndarray) -> float:
for goal in self.goals: for goal in self.goals:
@ -213,10 +213,10 @@ class GoalReward2Rooms(MazeTask):
E, B, R = MazeCell.EMPTY, MazeCell.BLOCK, MazeCell.ROBOT E, B, R = MazeCell.EMPTY, MazeCell.BLOCK, MazeCell.ROBOT
return [ return [
[B, B, B, B, B, B, B, B], [B, B, B, B, B, B, B, B],
[B, R, E, E, E, E, E, B], [B, E, E, E, B, E, E, B],
[B, E, E, E, E, E, E, B], [B, E, E, E, B, E, E, B],
[B, B, B, B, B, E, B, B], [B, E, R, E, B, E, E, B],
[B, E, E, E, E, E, E, B], [B, E, E, E, B, E, E, B],
[B, E, E, E, E, E, E, B], [B, E, E, E, E, E, E, B],
[B, B, B, B, B, B, B, B], [B, B, B, B, B, B, B, B],
] ]
@ -227,9 +227,17 @@ class DistReward2Rooms(GoalReward2Rooms, DistRewardMixIn):
class SubGoal2Rooms(GoalReward2Rooms): class SubGoal2Rooms(GoalReward2Rooms):
def __init__(self, scale: float) -> None: def __init__(
super().__init__(scale) self,
self.goals.append(MazeGoal(np.array([5.0 * scale, 0.0 * scale]), 0.5, GREEN)) scale: float,
primary_goal: Tuple[float, float] = (4.0, -2.0),
subgoals: List[Tuple[float, float]] = [(1.0, -2.0), (-1.0, 2.0)],
) -> None:
super().__init__(scale, primary_goal)
for subgoal in subgoals:
self.goals.append(
MazeGoal(np.array(subgoal) * scale, reward_scale=0.5, rgb=GREEN)
)
class GoalReward4Rooms(MazeTask): class GoalReward4Rooms(MazeTask):
@ -388,8 +396,8 @@ class SubGoalBilliard(GoalRewardBilliard):
def __init__( def __init__(
self, self,
scale: float, scale: float,
primary_goal: Tuple[float, float] = (4.0, -3.0), primary_goal: Tuple[float, float] = (4.0, -2.0),
subgoal: Tuple[float, float] = (4.0, 1.0), subgoal: Tuple[float, float] = (4.0, 2.0),
) -> None: ) -> None:
super().__init__(scale, primary_goal) super().__init__(scale, primary_goal)
self.goals.append( self.goals.append(
@ -410,8 +418,8 @@ class SubGoalBilliard(GoalRewardBilliard):
[B, B, B, B, B, B, B], [B, B, B, B, B, B, B],
[B, E, E, B, B, E, B], [B, E, E, B, B, E, B],
[B, E, E, E, E, E, B], [B, E, E, E, E, E, B],
[B, E, E, E, B, B, B], [B, R, M, E, B, B, B],
[B, R, M, E, E, E, B], [B, E, E, E, E, E, B],
[B, E, E, E, E, E, B], [B, E, E, E, E, E, B],
[B, B, B, B, B, B, B], [B, B, B, B, B, B, B],
] ]