Run n3

training/runs/webots_n3/config.json

@@ -0,0 +1,15 @@
+{
+  "W_PER_SHEEP": 2.0,
+  "W_ALIGN": 0.05,
+  "W_PEN_BONUS": 10.0,
+  "W_COMPLETE": 100.0,
+  "W_STEP_COST": 0.02,
+  "W_SOUTH": 0.01,
+  "W_COMPACT": 0.0,
+  "W_WALL_TOUCH": 0.0,
+  "WALL_TOUCH_BUFFER": 0.4,
+  "ALIGN_SHAPE": "standoff",
+  "ALIGN_GATED": true,
+  "ENTRY_AWARE": true,
+  "ent_coef": 0.02
+}

training/runs/webots_n3/stage_results.json

@@ -0,0 +1,64 @@
+[
+  {
+    "sr": 0.8,
+    "mean_len": 686.6666666666666,
+    "mean_min_pen": 3.6629639943440755,
+    "mean_act": 0.16181865727591677,
+    "failure_modes": {
+      "SUCCESS": 24,
+      "COMPACT_CANT_DRIVE": 6
+    },
+    "reward_per_step": {
+      "progress": 0.03881567865085689,
+      "alignment": 0.00015139903442241512,
+      "south": -0.00216557193820928,
+      "compact": 0.0,
+      "wall_touch": 0.0,
+      "pen_bonus": 0.011650485436893204,
+      "step_cost": -0.019999999999995886,
+      "complete": 0.11650485436893204
+    },
+    "n_sheep": 1
+  },
+  {
+    "sr": 1.0,
+    "mean_len": 654.0,
+    "mean_min_pen": 3.4076531132062278,
+    "mean_act": 0.8715365563710358,
+    "failure_modes": {
+      "SUCCESS": 30
+    },
+    "reward_per_step": {
+      "progress": 0.09053953751754566,
+      "alignment": 0.01356517500879768,
+      "south": -0.007814150244939332,
+      "compact": 0.0,
+      "wall_touch": 0.0,
+      "pen_bonus": 0.03058103975535168,
+      "step_cost": -0.01999999999999659,
+      "complete": 0.1529051987767584
+    },
+    "n_sheep": 2
+  },
+  {
+    "sr": 0.7333333333333333,
+    "mean_len": 1269.6333333333334,
+    "mean_min_pen": 1.7831791202227274,
+    "mean_act": 1.1211744887920247,
+    "failure_modes": {
+      "SUCCESS": 22,
+      "PARTIAL_1of3": 8
+    },
+    "reward_per_step": {
+      "progress": 0.06853864337494794,
+      "alignment": 0.010319892308307451,
+      "south": -0.029485590403771442,
+      "compact": 0.0,
+      "wall_touch": 0.0,
+      "pen_bonus": 0.01942818136469847,
+      "step_cost": -0.019999999999989426,
+      "complete": 0.05775945811126572
+    },
+    "n_sheep": 3
+  }
+]