ce96b03b07a4a4bdd851aa84493c616cd291aff2,rllib/examples/env/mbmpo_env.py,HopperWrapper,reward,#HopperWrapper#Any#Any#Any#,39

Before Change

        assert obs.ndim == 2 and action.ndim == 2
        assert obs.shape == obs_next.shape and action.shape[0] == obs.shape[0]
        vel = obs_next[:, 5]
        ctrl_cost = 1e-3 * np.sum(np.square(action), axis=1)
        reward = vel + alive_bonus - ctrl_cost
        return np.minimum(np.maximum(-1000.0, reward), 1000.0)


if __name__ == "__main__":
    env = HopperWrapper()

After Change

        // obs = [cos(theta), sin(theta), dtheta/dt]
        // To get the angle back from obs: atan2(sin(theta), cos(theta)).
        theta = np.arctan2(
            np.clip(obs[:, 1], -1.0, 1.0), np.clip(obs[:, 0], -1.0, 1.0))
        // Do everything in (B,) space (single theta-, action- and
        // reward values).
        a = np.clip(action, -self.max_torque, self.max_torque)[0]
        costs = self.angle_normalize(theta) ** 2 + \
            0.1 * obs[:, 2] ** 2 + 0.001 * (a ** 2)
        return -costs

    @staticmethod
    def angle_normalize(x):
        return (((x + np.pi) % (2 * np.pi)) - np.pi)

Instances