29 lines
1.0 KiB
Plaintext
29 lines
1.0 KiB
Plaintext
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first trial was with plain gap-error minimization reward,
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# --- FIX 2: Smoother Reward Function ---
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# Reward function
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reward = 1.0 # Survival bonus
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# Distance Penalty (Squared is smoother than linear for fine control)
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reward -= (gap_error * 100)**2
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# Orientation Penalties
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reward -= (roll_angle * 10)**2
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reward -= (pitch_angle * 10)**2
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next, added the following:
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contact_points = p.getContactPoints(bodyA=self.podId, bodyB=self.trackId)
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has_contact = len(contact_points) > 0
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# Don't terminate on contact.
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# Instead, penalize it, but allow the episode to continue so it can try to fix it.
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# if has_contact:
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# 5.0 is painful, but surviving 100 steps of pain is better than immediate death (-50)
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reward -= len(contact_points)
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# at this point, we still either stick or fall, no hovering training has been achieved.
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# Tried increasing lambda value and starting at optimal all the time.
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#Tried reducing entropy and resetting all params but allowing for full range of motion without bolts - 7 pm ish
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