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PushMaze

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This commit is contained in:
Yuji Kanagawa 2021-10-03 14:06:52 +09:00
parent cd55df02b1
commit 93fcea5131
1 changed files with 31 additions and 0 deletions
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31
mujoco_maze/maze_task.py
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@ -230,6 +230,36 @@ class NoRewardMultiPush(GoalRewardMultiPush):
return 0.0
class GoalRewardPushMaze(GoalRewardUMaze):
OBSERVE_BLOCKS: bool = True
MAZE_SIZE_SCALING: Scaling = Scaling(ant=2.0, point=6.0, swimmer=None)
def __init__(self, scale: float, goal: Tuple[float, float] = (3.0, 0.0)) -> None:
super().__init__(scale)
self.goals = [MazeGoal(np.array(goal) * scale)]
@staticmethod
def create_maze() -> List[List[MazeCell]]:
E, B, R, M = MazeCell.EMPTY, MazeCell.BLOCK, MazeCell.ROBOT, MazeCell.XY_BLOCK
return [
[B, B, B, B, B, B, B],
[B, E, E, R, M, E, B],
[B, B, B, B, E, B, B],
[B, E, M, E, M, B, B],
[B, B, E, B, E, B, B],
[B, B, B, B, B, B, B],
]
class DistRewardPushMaze(GoalRewardPushMaze, DistRewardMixIn):
pass
class NoRewardPushMaze(GoalRewardPushMaze):
def reward(self, _obs: np.ndarray) -> float:
return 0.0
class GoalRewardFall(GoalRewardUMaze):
OBSERVE_BLOCKS: bool = True
@ -712,6 +742,7 @@ class TaskRegistry:
"UMaze": [DistRewardUMaze, GoalRewardUMaze],
"Push": [DistRewardPush, GoalRewardPush],
"MultiPush": [DistRewardMultiPush, GoalRewardMultiPush, NoRewardMultiPush],
"PushMaze": [DistRewardPushMaze, GoalRewardPushMaze, NoRewardPushMaze],
"Fall": [DistRewardFall, GoalRewardFall],
"MultiFall": [DistRewardMultiFall, GoalRewardMultiFall, NoRewardMultiFall],
"2Rooms": [DistReward2Rooms, GoalReward2Rooms, SubGoal2Rooms],