Trying attention method

2026-04-26 22:28:43 +01:00
parent 57b1735e1a
commit a2363d882f
4 changed files with 448 additions and 12 deletions
@@ -73,8 +73,8 @@ class HerdingEnv(gym.Env):
    # Peer communication lag — sheep broadcast every 3 Webots steps
    PEER_BROADCAST_INTERVAL = 3

-    # Action smoothing EMA alpha — matches shepherd_dog_rl.py ACTION_SMOOTH
-    ACTION_SMOOTH = 0.3
+    # Action smoothing EMA alpha; 0 = disabled (smoothing applied at Webots inference)
+    ACTION_SMOOTH = 0.0

    # Boid parameters — identical to sheep.py
    FLEE_DIST       = 7.0