NoRewardMultiPush

mujoco_maze/maze_task.py

@@ -225,6 +225,11 @@ class DistRewardMultiPush(GoalRewardMultiPush, DistRewardMixIn):
     pass
 
 
+class NoRewardMultiPush(GoalRewardMultiPush):
+    def reward(self, _obs: np.ndarray) -> float:
+        return 0.0
+
+
 class GoalRewardFall(GoalRewardUMaze):
     OBSERVE_BLOCKS: bool = True
 
@@ -587,7 +592,7 @@ class TaskRegistry:
         "SquareRoom": [DistRewardSquareRoom, GoalRewardSquareRoom, NoRewardSquareRoom],
         "UMaze": [DistRewardUMaze, GoalRewardUMaze],
         "Push": [DistRewardPush, GoalRewardPush],
-        "MultiPush": [DistRewardMultiPush, GoalRewardMultiPush],
+        "MultiPush": [DistRewardMultiPush, GoalRewardMultiPush, NoRewardMultiPush],
         "Fall": [DistRewardFall, GoalRewardFall],
         "2Rooms": [DistReward2Rooms, GoalReward2Rooms, SubGoal2Rooms],
         "4Rooms": [DistReward4Rooms, GoalReward4Rooms, SubGoal4Rooms],