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Sheep training flock of 10 fix?

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Johnny Fernandes
2026-04-24 17:49:42 +01:00
parent 4d7f365358
commit bf9fe902d9
3 changed files with 98 additions and 10 deletions
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training/herding_env.py
+7 -3
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@@ -279,12 +279,16 @@ class HerdingEnv(gym.Env):
S = self.FIELD
D = 2 * self.FIELD
# far1/far2/far3 expressed relative to COM, not dog.
# For 1 sheep: far1-COM = far2-COM = far3-COM = [0,0] → cleanly ignorable.
# For 3+ sheep: non-zero vectors tell the dog where each straggler is
# within the group, without conflicting with weights trained on 1 sheep.
return np.array([
self.dog_pos[0] / S, self.dog_pos[1] / S,
(com[0] - self.dog_pos[0]) / D, (com[1] - self.dog_pos[1]) / D,
(far1[0] - self.dog_pos[0]) / D, (far1[1] - self.dog_pos[1]) / D,
(far2[0] - self.dog_pos[0]) / D, (far2[1] - self.dog_pos[1]) / D,
(far3[0] - self.dog_pos[0]) / D, (far3[1] - self.dog_pos[1]) / D,
(far1[0] - com[0]) / D, (far1[1] - com[1]) / D,
(far2[0] - com[0]) / D, (far2[1] - com[1]) / D,
(far3[0] - com[0]) / D, (far3[1] - com[1]) / D,
(self.PEN_CENTER[0] - com[0]) / D, (self.PEN_CENTER[1] - com[1]) / D,
(self.PEN_CENTER[0] - far1[0]) / D, (self.PEN_CENTER[1] - far1[1]) / D,
radius / D,