ChenXi/FCP_gym
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some tiny change

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ChenXi
2025-11-24 17:01:46 +08:00
parent be8736ce3b
commit 3226ef99c1
1 changed files with 2 additions and 2 deletions
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scripts/gyms/Kick_3M.py
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@@ -256,7 +256,7 @@ class Kick_3M(gym.Env):
waiting_steps += 1
dis = np.linalg.norm(self.ball_pos - w.ball_cheat_abs_pos)
reward = 10 - abs(3 - dis) - abs(w.ball_cheat_abs_pos[1] - self.ball_pos[1])
reward = 3 - abs(3 - dis) - abs(w.ball_cheat_abs_pos[1] - self.ball_pos[1])
if self.isfallen or w.ball_cheat_abs_pos[0] < self.ball_pos[0]:
reward = 0
# print(reward)
@@ -282,7 +282,7 @@ class Train(Train_Base):
minibatch_size = 64 # should be a factor of (n_steps_per_env * n_envs)
total_steps = 30000000
learning_rate = 3e-5
folder_name = f'kick_moving_ball_R{self.robot_type}'
folder_name = f'Kick_3M_R{self.robot_type}'
model_path = f'./scripts/gyms/logs/{folder_name}/'
# print("Model path:", model_path)