Clamp the avg energy heuristic

RedTachyon · May 26, 2023 · 82219b9 · 82219b9
1 parent 82a700a
commit 82219b9
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Showing 3 changed files with 9 additions and 1 deletion.
diff --git a/Assets/Scenes/NormalScene.unity b/Assets/Scenes/NormalScene.unity
@@ -600,7 +600,7 @@ MonoBehaviour:
  spawnScale: 7
  gridSpawn: 1
  groupSpawnScale: 1.5
- enableObstacles: 1
+ enableObstacles: 0
  blockScale: 3
  randomMass: 1
  randomEnergy: 0
@@ -621,6 +621,7 @@ MonoBehaviour:
  rewardVelocityMatching: 1
  rewardGoal: 1
  rewardFinal: 1
+ rewardAvgFinal: 1
  sightRadius: 10
  sightAgents: 12
  sightAngle: 180
@@ -6263,6 +6264,7 @@ MonoBehaviour:
  PreferredSpeed: 1.33
  mass: 1
  squasherType: 3
+ startPosition: {x: 0, y: 0, z: 0}
  CollectedGoal: 0
  rewardDisabled: 0
  distanceTraversed: 0

diff --git a/Assets/Scripts/MLUtils.cs b/Assets/Scripts/MLUtils.cs
@@ -2,6 +2,7 @@
 using System.Collections.Generic;
 using System.Diagnostics.Contracts;
 using System.Linq;
+using System.Reflection;
 using Managers;
 using UnityEngine;
 using Random = UnityEngine.Random;
@@ -259,6 +260,8 @@ public static float AverageEnergyHeuristic(Vector3 position, Vector3 target, Vec
 
 
  var avgSpeed = (totalDistance - finalDistance) / timeLimit; // v'
+
+ avgSpeed = Mathf.Max(avgSpeed, Params.HeuristicEpsilon);
 
  var remainingTime = finalDistance / avgSpeed; // T'
 

diff --git a/Assets/Scripts/Params.cs b/Assets/Scripts/Params.cs
@@ -135,6 +135,9 @@ private void Awake()
  public float rewardAvgFinal = 1f;
  public static float RewAvgFinal => Get("r_avg_final", Instance.rewardAvgFinal);
 
+ public float heuristicEpsilon = 0.1f;
+ public static float HeuristicEpsilon => Get("heuristic_epsilon", Instance.heuristicEpsilon);
+