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MagDish 2024-11-13 20:49:24 +08:00
parent e8f50eea0f
commit c9f2ff9272
1 changed files with 2 additions and 2 deletions
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scripts/gyms/sprint.py
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@ -342,9 +342,9 @@ class sprint(gym.Env):
robot_speed = r.loc_torso_velocity[0] robot_speed = r.loc_torso_velocity[0]
direction_error = abs(self.walk_rel_orientation) direction_error = abs(self.walk_rel_orientation)
direction_error = min(direction_error, 10) direction_error = min(direction_error, 10)
reward = robot_speed * (1 - direction_error / 10) reward = robot_speed * (1.5 - direction_error / 10)
if self.walk_distance < 0.5: if self.walk_distance < 0.5:
reward += 20 reward += 10
self.generate_random_target() self.generate_random_target()
if self.player.behavior.is_ready("Get_Up"): if self.player.behavior.is_ready("Get_Up"):