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revert maze reward function #158

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merged 3 commits into from
Jun 23, 2023
Merged

revert maze reward function #158

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63d8ec3
revert maze reward function
Kallinteris-Andreas Jun 21, 2023
2458a51
Merge branch 'Farama-Foundation:main' into patch-10
Kallinteris-Andreas Jun 23, 2023
ba6b419
Update maze_v4.py
Kallinteris-Andreas Jun 23, 2023
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6 changes: 3 additions & 3 deletions gymnasium_robotics/envs/maze/maze.py
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Original file line number Diff line number Diff line change
Expand Up @@ -275,11 +275,11 @@ def add_xy_position_noise(self, xy_pos: np.ndarray) -> np.ndarray:
def compute_reward(
self, achieved_goal: np.ndarray, desired_goal: np.ndarray, info
) -> float:
d = np.linalg.norm(achieved_goal - desired_goal, axis=-1)
distance = np.linalg.norm(achieved_goal - desired_goal, axis=-1)
if self.reward_type == "dense":
return np.exp(-d)
return np.exp(-distance)
elif self.reward_type == "sparse":
return -(d > 0.45).astype(np.float32)
return (distance <= 0.45).astype(np.float64)

def compute_terminated(
self, achieved_goal: np.ndarray, desired_goal: np.ndarray, info
Expand Down
6 changes: 3 additions & 3 deletions gymnasium_robotics/envs/maze/maze_v4.py
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Original file line number Diff line number Diff line change
Expand Up @@ -355,11 +355,11 @@ def add_xy_position_noise(self, xy_pos: np.ndarray) -> np.ndarray:
def compute_reward(
self, achieved_goal: np.ndarray, desired_goal: np.ndarray, info
) -> float:
d = np.linalg.norm(achieved_goal - desired_goal, axis=-1)
distance = np.linalg.norm(achieved_goal - desired_goal, axis=-1)
if self.reward_type == "dense":
return np.exp(-d)
return np.exp(-distance)
elif self.reward_type == "sparse":
return -(d > 0.45).astype(np.float32)
return (distance <= 0.45).astype(np.float64)

def compute_terminated(
self, achieved_goal: np.ndarray, desired_goal: np.ndarray, info
Expand Down