From 3f3f9bb739590fc2e4c3c70922ff8f8afb4be7f5 Mon Sep 17 00:00:00 2001 From: Patrick Virie Date: Tue, 14 Jan 2025 22:49:23 +0700 Subject: [PATCH] added random noise back --- tasks/rl_hopper.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/tasks/rl_hopper.py b/tasks/rl_hopper.py index cf7d45d..606dec7 100644 --- a/tasks/rl_hopper.py +++ b/tasks/rl_hopper.py @@ -122,7 +122,7 @@ def setup(): state_dim = 11 action_dim = 3 - expectation_dim = 2 # acc_x, speed_z + expectation_dim = 2 # velo_x, speed_z context_length = 1 cortex_models = [ @@ -266,7 +266,7 @@ def prepare_data_tuples(states, actions, rewards, num_layers, skip_steps): env = gym.make( 'Hopper-v5', - healthy_reward=1, forward_reward_weight=0, ctrl_cost_weight=1e-3, + healthy_reward=1, forward_reward_weight=0, ctrl_cost_weight=0, healthy_angle_range=(-math.pi / 2, math.pi / 2), healthy_state_range=(-100, 100), render_mode=None ) @@ -285,7 +285,7 @@ def prepare_data_tuples(states, actions, rewards, num_layers, skip_steps): total_steps = 0 num_trials = 2000 print_steps = max(1, num_trials // 100) - epsilon = 0.8 - 0.3 * (course + 1) / num_courses + epsilon = 0.8 - 0.5 * (course + 1) / num_courses course_statistics = {} @@ -312,6 +312,8 @@ def prepare_data_tuples(states, actions, rewards, num_layers, skip_steps): else: a = model.react(alg.State(observation.data), stable_state) selected_action = a.data + # add random noise + selected_action += np.random.normal(0, epsilon, size=selected_action.shape) selected_action = np.clip(selected_action, -1, 1) next_observation, reward, terminated, truncated, info = env.step(selected_action) @@ -390,7 +392,7 @@ def experiment_session(path, force_clear=None): env = gym.make( 'Hopper-v5', - healthy_reward=1, forward_reward_weight=0, ctrl_cost_weight=1e-3, + healthy_reward=1, forward_reward_weight=0, ctrl_cost_weight=0, healthy_angle_range=(-math.pi / 2, math.pi / 2), healthy_state_range=(-100, 100), render_mode="rgb_array", width=1280, height=720 )