Cup Game Task¶
Calculates reward based on whether the correct cup is touched and whether the ball is touched.
A reward of
1is given for one tick if the correct cup is touched and no other cups are touched.A reward of
2and terminal is given when the ball itself is touched and no incorrect cups are touched.A reward of
-1and terminal is given when an incorrect cup is touched.
The cup game task only works in the CupGame world in the dexterity package. The game will not start if a cup game task is not added to an agent.
Configuration¶
Each of the following parameters can be placed in the configuration field for a cup game task sensor (see scenario files.)
The configuration can also be set programmatically by calling
start_game() if the sensor has no
configuration block. That configuration will reset after every call to
reset().
Speed Multiplier¶
1.0 is the base speed, cups will rotate faster with a higher multiplier.
It is best to keep values between 1 and 10.
"Speed": 2.4
Seed¶
Seed for the RNG used to shuffle the cups. Providing a fixed seed will result in a deterministic set of exchanges, which may be useful for training.
If left empty or not defined, the cups will rotate using a randomly generated seed.
"Seed": 1
Example¶
{
"Speed": 5.0,
"NumShuffles": 1,
"Seed": 0
}