new

1 week ago · c9f2ff9272
parent e8f50eea0f
commit c9f2ff9272
1 changed files with 2 additions and 2 deletions
--- a/scripts/gyms/sprint.py
+++ b/scripts/gyms/sprint.py
@ -342,9 +342,9 @@ class sprint(gym.Env):
        robot_speed = r.loc_torso_velocity[0]
        direction_error = abs(self.walk_rel_orientation)
        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:
-            reward += 20
+            reward += 10
            self.generate_random_target()

        if self.player.behavior.is_ready("Get_Up"):