[reply] 1 new revision pushed by lucio.torre on 2009-09-05 02:33 GMT

[codesite...@google.com]

Revision: ce916641ca
Author: lucio.torre
Date: Fri Sep 4 19:33:18 2009
Log: better pole cart
http://code.google.com/p/reply/source/detail?r=ce916641ca

Modified:
/samples/pole_cart.py

=======================================
--- /samples/pole_cart.py Tue Jul 28 05:40:40 2009
+++ /samples/pole_cart.py Fri Sep 4 19:33:18 2009
@@ -61,7 +61,7 @@
def build_storage(self):
self.storage = self.storage_class(self,
TileMapping(observations, dict(velocity=10, position=1,
angle=20, angle_velocity=10)),
- TileMapping(actions, dict(force=20)))
+ TileMapping(actions, dict(force=40)))

def cap(n, m, M):
return max(m, min(M, n))
@@ -131,6 +131,11 @@
if abs(math.degrees(self.theta)) > 80:
terminal = True
r = -1
+ else:
+ r = (10 - abs(math.degrees(self.theta)))/100.0
+ r -= abs(force/500)
+
+
rot = self.get_state()
rot.update(dict(reward=r, terminal=terminal))
return rot