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Higher Height penalty

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falling behavior was slightly positiv
therefore the penatly was increased again
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JackM323
2026-08-03 22:52:13 +02:00
parent 4fdfadfd3f
commit 9d2e001ea4
1 changed files with 1 additions and 1 deletions
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ml/env.py
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@@ -416,7 +416,7 @@ class JackBotEnv(gym.Env):
# ------------------------------------------------------------- # -------------------------------------------------------------
# 4. POSTURE & STABILITY PENALTIES # 4. POSTURE & STABILITY PENALTIES
# ------------------------------------------------------------- # -------------------------------------------------------------
height_penalty = 4.0 * ((self.target_height - pos[2]) ** 2) if pos[2] < self.target_height else 0.0 height_penalty = 6.0 * ((self.target_height - pos[2]) ** 2) if pos[2] < self.target_height else 0.0
stability_penalty = 1.5 * (roll**2 + pitch**2) stability_penalty = 1.5 * (roll**2 + pitch**2)
# Penalize only large control jumps; allow continuous low-amplitude motion # Penalize only large control jumps; allow continuous low-amplitude motion