Bug fix in logging

utiasDSL · Nov 26, 2023 · c7bc897 · c7bc897
1 parent 2348440
commit c7bc897
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/gym_pybullet_drones/envs/LeaderFollowerAviary.py b/gym_pybullet_drones/envs/LeaderFollowerAviary.py
@@ -55,7 +55,7 @@ def __init__(self,
 
         """
         self.TARGET_POS = np.array([0,0,1])
-        self.EPISODE_LEN_SEC = 5
+        self.EPISODE_LEN_SEC = 8
         super().__init__(drone_model=drone_model,
                          num_drones=num_drones,
                          neighbourhood_radius=neighbourhood_radius,
@@ -82,9 +82,9 @@ def _computeReward(self):
 
         """
         states = np.array([self._getDroneStateVector(i) for i in range(self.NUM_DRONES)])
-        ret = max(0, 10 - np.linalg.norm(self.TARGET_POS-states[0, 0:3])**4)
+        ret = max(0, 2 - np.linalg.norm(self.TARGET_POS-states[0, 0:3])**4)
         for i in range(1, self.NUM_DRONES):
-            ret += max(0, 10 - np.linalg.norm(states[i-1, 3]-states[i, 3])**4)
+            ret += max(0, 2 - np.linalg.norm(states[i-1, 3]-states[i, 3])**4)
         return ret
 
     ################################################################################

diff --git a/gym_pybullet_drones/examples/learn.py b/gym_pybullet_drones/examples/learn.py
@@ -88,7 +88,7 @@ def run(multiagent=DEFAULT_MA, output_folder=DEFAULT_OUTPUT_FOLDER, gui=DEFAULT_
     if not multiagent:
         steps = 2 * int(1e5)
     else:
-        steps = int(1e6)
+        steps = int(1e4)
     model.learn(total_timesteps=steps,
                 callback=eval_callback,
                 log_interval=100)
@@ -131,7 +131,7 @@ def run(multiagent=DEFAULT_MA, output_folder=DEFAULT_OUTPUT_FOLDER, gui=DEFAULT_
                                         record=record_video)
         test_env_nogui = LeaderFollowerAviary(num_drones=DEFAULT_AGENTS, obs=DEFAULT_OBS, act=DEFAULT_ACT)
     logger = Logger(logging_freq_hz=int(test_env.CTRL_FREQ),
-                num_drones=DEFAULT_AGENTS if DEFAULT_MA else 1,
+                num_drones=DEFAULT_AGENTS if multiagent else 1,
                 output_folder=output_folder,
                 colab=colab
                 )