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LongCorridor

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This commit is contained in:
Yuji Kanagawa 2021-09-22 22:39:15 +09:00
parent 18a1569a45
commit f966e436c4
1 changed files with 25 additions and 0 deletions
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25
mujoco_maze/maze_task.py
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@ -402,6 +402,30 @@ class DistRewardCorridor(GoalRewardCorridor, DistRewardMixIn):
pass
class GoalRewardLongCorridor(GoalRewardUMaze):
MAZE_SIZE_SCALING: Scaling = Scaling(2.0, 4.0, 2.0)
def __init__(self, scale: float, goal: Tuple[float, float] = (1.0, 3.0)) -> None:
super().__init__(scale)
self.goals = [MazeGoal(np.array(goal) * scale)]
@staticmethod
def create_maze() -> List[List[MazeCell]]:
E, B, R = MazeCell.EMPTY, MazeCell.BLOCK, MazeCell.ROBOT
return [
[B, B, B, B, B, B, B, B, B],
[B, R, B, E, E, E, B, E, B],
[B, E, B, E, B, E, B, E, B],
[B, E, B, E, B, E, B, E, B],
[B, E, E, E, B, E, E, E, B],
[B, B, B, B, B, B, B, B, B],
]
class DistRewardLongCorridor(GoalRewardLongCorridor, DistRewardMixIn):
pass
class GoalRewardBlockMaze(GoalRewardUMaze):
MAZE_SIZE_SCALING: Scaling = Scaling(8.0, 4.0, None)
OBSERVE_BLOCKS: bool = True
@ -543,6 +567,7 @@ class TaskRegistry:
"TRoom": [DistRewardTRoom, GoalRewardTRoom, SubGoalTRoom],
"BlockMaze": [DistRewardBlockMaze, GoalRewardBlockMaze],
"Corridor": [DistRewardCorridor, GoalRewardCorridor, NoRewardCorridor],
"LongCorridor": [DistRewardLongCorridor, GoalRewardLongCorridor],
"Billiard": [
DistRewardBilliard, # v0
GoalRewardBilliard, # v1