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Her-darling 2024-11-16 11:46:25 +08:00
parent 7748c64b44
commit 06ed0b96bb
1 changed files with 13 additions and 20 deletions
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33
scripts/gyms/Sprint.py
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@ -11,7 +11,6 @@ from scripts.commons.Train_Base import Train_Base
from time import sleep
import os, gym
import numpy as np
from math_ops.Math_Ops import Math_Ops as U
from math_ops.Math_Ops import Math_Ops as M
from behaviors.custom.Step.Step_Generator import Step_Generator
@ -233,9 +232,9 @@ class sprint(gym.Env):
t = w.time_local_ms
self.reset_time = t
self.generate_random_target(self.Gen_player_pos)
self.target = np.array([3, 0])
distance = np.linalg.norm(self.target - self.Gen_player_pos[:2])
self.walk_rel_target = self.target - self.Gen_player_pos[:2]
self.walk_rel_target = self.target
self.walk_distance = distance
self.walk_rel_orientation = M.vector_angle(self.walk_rel_target)
@ -298,17 +297,10 @@ class sprint(gym.Env):
internal_dist = np.linalg.norm(self.internal_target)
action_mult = 1 if internal_dist > 0.2 else (0.7 / 0.2) * internal_dist + 0.3
self.walk_rel_target = M.rotate_2d_vec(
(self.target[0] - r.loc_head_position[0], self.target[1] - r.loc_head_position[1]), -r.imu_torso_orientation)
(self.target[0] - r.loc_head_position[0], self.target[1] - r.loc_head_position[1]),
-r.imu_torso_orientation)
self.walk_distance = np.linalg.norm(self.walk_rel_target)
self.walk_rel_orientation = M.vector_angle(self.walk_rel_target) * 0.3
if self.walk_distance <= 0.5:
self.generate_random_target(r.loc_head_position)
self.walk_rel_target = M.rotate_2d_vec(
(self.target[0] - r.loc_head_position[0], self.target[1] - r.loc_head_position[1]),
-r.imu_torso_orientation)
self.walk_distance = np.linalg.norm(self.walk_rel_target)
self.walk_rel_orientation = M.vector_angle(self.walk_rel_target) * 0.3
self.walk_rel_orientation = M.vector_angle(self.walk_rel_target) * 0.5
# exponential moving average
self.act = 0.8 * self.act + 0.2 * action * action_mult * 0.7
@ -340,12 +332,14 @@ class sprint(gym.Env):
self.sync()
self.step_counter += 1
obs = self.observe()
velocity_rel_orientation = M.vector_angle(M.rotate_2d_vec((r.loc_torso_velocity[0], r.loc_torso_velocity[1]), r.imu_torso_orientation)) * 0.3
direction_error = min(abs(velocity_rel_orientation - self.walk_rel_orientation), 10)
robot_speed = np.linalg.norm(r.loc_torso_velocity[:2])
reward = robot_speed * (1.5 - direction_error / 10)
if self.walk_distance < 0.5:
reward += 10
dirct = abs((self.target[1] - r.loc_head_position[1]) / (self.target[0] - r.loc_head_position[0]))
# direction_error = abs(r.imu_torso_orientation - M.vector_angle(self.target - r.loc_head_position[:2]))
reward = (r.loc_torso_velocity[0] * 0.1 + dirct * r.loc_torso_velocity[1] * 0.1
+ 0.1 * math.exp(-10*abs(self.walk_rel_orientation)))
if np.linalg.norm(self.target - r.loc_head_position[:2]) < 0.3:
reward += 50
self.generate_random_target(self.target)
if self.player.behavior.is_ready("Get_Up"):
self.terminal = True
@ -355,7 +349,6 @@ class sprint(gym.Env):
self.terminal = False
return obs, reward, self.terminal, {}
class Train(Train_Base):
def __init__(self, script) -> None:
super().__init__(script)