def test_rew_fcn_constructor(state_space, act_space):
r_m1 = MinusOnePerStepRewFcn()
r_quadr = QuadrErrRewFcn(Q=5*np.eye(4), R=2*np.eye(1))
r_exp = ScaledExpQuadrErrRewFcn(Q=np.eye(7), R=np.eye(3), state_space=state_space, act_space=act_space)
assert r_m1 is not None
assert r_quadr is not None
assert r_exp is not None
def _create_task(self, task_args: dict) -> Task:
# Define the task including the reward function
state_des = task_args.get('state_des', None)
if state_des is None:
state_des = np.zeros(self.obs_space.flat_dim)
Q = np.diag([
1e-0,
1e-0,
1e-0,
1e-0,
1e-0,
1e+3,
1e+3,
1e+3, # Px, Py, Pz, Pa, Pb, Bx, By, Bz,
1e-2,
1e-2,
1e-2,
1e-2,
1e-2,
1e-0,
1e-0,
1e-0
]) # Pxd, Pyd, Pzd, Pad, Pbd, Bxd, Byd, Bzd
R = np.diag([1e-2, 1e-2, 1e-2, 1e-3,
1e-3]) # Pxdd, Pydd, Pzdd, Padd, Pbdd
return DesStateTask(
self.spec, state_des,
ScaledExpQuadrErrRewFcn(Q,
R,
self.state_space,
self.act_space,
min_rew=1e-4))
def _create_task(self, task_args: dict) -> Task:
# Define the task including the reward function
state_des = task_args.get('state_des', np.zeros(4))
Q = task_args.get('Q', np.diag([1e5, 1e3, 1e3, 1e2]))
R = task_args.get('R', np.eye(1))
return DesStateTask(
self.spec, state_des, ScaledExpQuadrErrRewFcn(Q, R, self.state_space, self.act_space, min_rew=1e-4)
)
def _create_task(self, task_args: dict) -> Task:
# Define the task including the reward function
state_des = task_args.get('state_des', np.zeros(8))
Q = task_args.get(
'Q', np.diag([1e0, 1e0, 5e3, 5e3, 1e-2, 1e-2, 5e-1, 5e-1]))
R = task_args.get('R', np.diag([1e-2, 1e-2]))
# Q = np.diag([1e2, 1e2, 5e2, 5e2, 1e-2, 1e-2, 1e+1, 1e+1]) # for LQR
# R = np.diag([1e-2, 1e-2]) # for LQR
return DesStateTask(
self.spec, state_des,
ScaledExpQuadrErrRewFcn(Q,
R,
self.state_space,
self.act_space,
min_rew=1e-4))
def _create_task(self, task_args: dict) -> Task:
# Define the task including the reward function
state_des = task_args.get("state_des",
np.zeros(self.obs_space.flat_dim))
Q = np.diag([1e-1, 1e-1, 1e1, 1e1, 0, 1e-3, 1e-3, 1e-2, 1e-2,
0]) # Pa, Pb, Bx, By, Bz, Pad, Pbd, Bxd, Byd, Bzd
R = np.diag([1e-3, 1e-3]) # Padd, Pbdd
return DesStateTask(
self.spec, state_des,
ScaledExpQuadrErrRewFcn(Q,
R,
self.state_space,
self.act_space,
min_rew=1e-4))