scottpletcher / deepracer Goto Github PK

{
    "all_wheels_on_track": Boolean,        # flag to indicate if the agent is on the track
    "x": float,                            # agent's x-coordinate in meters
    "y": float,                            # agent's y-coordinate in meters
    "closest_objects": [int, int],         # zero-based indices of the two closest objects to the agent's current position of (x, y).
    "closest_waypoints": [int, int],       # indices of the two nearest waypoints.
    "distance_from_center": float,         # distance in meters from the track center 
    "is_crashed": Boolean,                 # Boolean flag to indicate whether the agent has crashed.
    "is_left_of_center": Boolean,          # Flag to indicate if the agent is on the left side to the track center or not. 
    "is_offtrack": Boolean,                # Boolean flag to indicate whether the agent has gone off track.
    "is_reversed": Boolean,                # flag to indicate if the agent is driving clockwise (True) or counter clockwise (False).
    "heading": float,                      # agent's yaw in degrees
    "objects_distance": [float, ],         # list of the objects' distances in meters between 0 and track_length in relation to the starting line.
    "objects_heading": [float, ],          # list of the objects' headings in degrees between -180 and 180.
    "objects_left_of_center": [Boolean, ], # list of Boolean flags indicating whether elements' objects are left of the center (True) or not (False).
    "objects_location": [(float, float),], # list of object locations [(x,y), ...].
    "objects_speed": [float, ],            # list of the objects' speeds in meters per second.
    "progress": float,                     # percentage of track completed
    "speed": float,                        # agent's speed in meters per second (m/s)
    "steering_angle": float,               # agent's steering angle in degrees
    "steps": int,                          # number steps completed
    "track_length": float,                 # track length in meters.
    "track_width": float,                  # width of the track
    "waypoints": [(float, float), ]        # list of (x,y) as milestones along the track center

}

import math

def reward_function(params):

    # self = params['self']
    # steps = params['steps']
    # on_track = params['on_track']
    # progress = params['progress']
    # throttle = params['throttle']
    # steering = params['steering']
    # track_width = params['track_width']
    # distance_from_center = params['distance_from_center']
    x = params['x']
    y = params['y']
    waypoints = params['waypoints']
    heading = params['heading']
    closest_waypoints = params['closest_waypoints']

    reward = 1e-3

    rabbit = [0, 0]
    pointing = [0, 0]

    rabbit = [waypoints[closest_waypoints+1]
              [0], waypoints[closest_waypoints+1][1]]

    radius = math.hypot(x - rabbit[0], y - rabbit[1])

    pointing[0] = x + (radius * math.cos(heading))
    pointing[1] = y + (radius * math.sin(heading))

    vector_delta = math.hypot(pointing[0] - rabbit[0], pointing[1] - rabbit[1])

    if vector_delta == 0:
        reward += 1
    else:
        reward += (1 - (vector_delta / (radius * 2)))

    return reward