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Updated Dense Reward for Maze tasks #216

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Updated Dense Reward for Maze tasks #216

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8ae3215
Update dense reward
siddarth-c Apr 8, 2024
7256426
Update dense reward
siddarth-c Apr 8, 2024
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4 changes: 2 additions & 2 deletions gymnasium_robotics/envs/maze/maze.py
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Original file line number Diff line number Diff line change
Expand Up @@ -274,9 +274,9 @@ 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:
distance = np.linalg.norm(achieved_goal - desired_goal, axis=-1)
distance = np.linalg.norm(achieved_goal - desired_goal, ord = 2, axis=-1)
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Why was ord=2, added? That is the default behavior anyway

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Correct, wanted to put it out explicitly.

if self.reward_type == "dense":
return np.exp(-distance)
return -distance
elif self.reward_type == "sparse":
return (distance <= 0.45).astype(np.float64)

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4 changes: 2 additions & 2 deletions gymnasium_robotics/envs/maze/maze_v4.py
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Expand Up @@ -374,9 +374,9 @@ 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:
distance = np.linalg.norm(achieved_goal - desired_goal, axis=-1)
distance = np.linalg.norm(achieved_goal - desired_goal, ord = 2, axis=-1)
if self.reward_type == "dense":
return np.exp(-distance)
return -distance
elif self.reward_type == "sparse":
return (distance <= 0.45).astype(np.float64)

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