Location Task¶
Calculates a sparse distance reward based on the distance to a location or an actor. Can maximize or minimize a distance. A reward of 1 is only given only if the agent reaches the goal target within the goal distance.
Configuration¶
Each of the following parameters can be placed in the configuration field for a location task sensor (see scenario files.)
LocationActor¶
The reward is given based on the distance between this actor and the goal target. Defaults to the task’s agent.
"LocationActor": "name-of-actor"
GoalTarget¶
The Location task needs an actor or a location to use in the distance calculations.
"GoalActor": "name-of-actor"
or
"GoalLocation": [3.14, 2.71, 117]
GoalDistance¶
This is the distance from the goal target the LocationActor
must be to get a reward
and terminal.
"GoalDistance": 1024.0
NegativeReward¶
A boolean representing whether reaching the goal target returns 1
or -1
. Defaults
to false.
"NegativeReward": false
HasTerminal¶
A boolean representing whether reaching the goal target returns a terminal value or not. Defaults to false.
"HasTerminal": true
Example¶
{
"LocationActor": "golf-ball",
"GoalActor": "cup",
"GoalDistance": 1024.0,
"NegativeReward": false,
"HasTerminal": true
}