Cup Game Task¶
Calculates reward based on whether the correct cup is touched and whether the ball is touched.
- A reward of
1
is given for one tick if the correct cup is touched and no other cups are touched. - A reward of
2
and terminal is given when the ball itself is touched and no incorrect cups are touched. - A reward of
-1
and 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
}