(self, physics)
return np.hstack((standing, forward))
Returns the factorized reward.
Returns the factorized reward.
Returns the factorized reward .
def get_reward_factors(self, physics):
    """Returns the factorized reward."""
    standing = super().get_reward_factors(physics)

    speed_margin = max(1.0, self._move_speed)
    forward = rewards.tolerance(physics.com_forward_velocity(),
                                bounds=(self._move_speed, 2*self._move_speed),
                                margin=speed_margin,
                                value_at_margin=0,
                                sigmoid='linear')
    forward = (4*forward + 1) / 5

    return np.hstack((standing, forward))
def get_reward_factors ( self , physics ) : standing = super ( ) . get_reward_factors ( physics ) speed_margin = max ( 1.0 , self . _move_speed ) forward = rewards . tolerance ( physics . com_forward_velocity ( ) , bounds = ( self . _move_speed , 2 * self . _move_speed ) , margin = speed_margin , value_at_margin = 0 , sigmoid = 'linear' ) forward = ( 4 * forward + 1 ) / 5 return np . hstack ( ( standing , forward ) )