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Her-darling 2024-09-25 22:20:06 +08:00
parent 371e761a44
commit 6c9467f21e
1 changed files with 2 additions and 1 deletions
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scripts/gyms/dribble.py
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@ -259,6 +259,7 @@ class dribble(gym.Env):
def close(self): def close(self):
Draw.clear_all() Draw.clear_all()
self.player.terminate() self.player.terminate()
def execute(self, action): def execute(self, action):
# Actions: # Actions:
@ -354,7 +355,7 @@ class dribble(gym.Env):
loss = self.loss(obs, action_p, action_r) loss = self.loss(obs, action_p, action_r)
# 计算奖励 # 计算奖励
reward = np.linalg.norm(w.ball_cheat_abs_vel) * cos_theta reward = np.linalg.norm(w.ball_cheat_abs_vel) * cos_theta + loss
if self.ball_dist_hip_center_2d < 0.115: if self.ball_dist_hip_center_2d < 0.115:
reward = 0 reward = 0