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Add success_threshold parameter to adjust success criteria #24

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4 changes: 2 additions & 2 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -69,15 +69,15 @@ The reward is the coverage of the block in the goal zone. The reward is 1.0 if t

### Success Criteria

The environment is considered solved if the block is at least 95% in the goal zone.
By default, the environment is considered solved if the block is at least 95% in the goal zone. The percent can be configured via `success_threshold` parameter.

### Starting State

The agent starts at a random position and the block starts at a random position and angle.

### Episode Termination

The episode terminates when the block is at least 95% in the goal zone.
The episode terminates when the success criteria is met.

### Arguments

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9 changes: 6 additions & 3 deletions gym_pusht/envs/pusht.py
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Expand Up @@ -70,15 +70,15 @@ class PushTEnv(gym.Env):

## Success Criteria

The environment is considered solved if the block is at least 95% in the goal zone.
By default, the environment is considered solved if the block is at least 95% in the goal zone. The percent can be configured via `success_threshold` parameter.

## Starting State

The agent starts at a random position and the block starts at a random position and angle.

## Episode Termination

The episode terminates when the block is at least 95% in the goal zone.
The episode terminates when the success criteria is met.

## Arguments

Expand All @@ -105,6 +105,8 @@ class PushTEnv(gym.Env):

* `visualization_height`: (int) The height of the visualized image. Default is `680`.

* `success_threshold`: (float) The percentage of block in goal zone required for environment to be considered solved. Default is `0.95`.

## Reset Arguments

Passing the option `options["reset_to_state"]` will reset the environment to a specific state.
Expand Down Expand Up @@ -144,6 +146,7 @@ def __init__(
observation_height=96,
visualization_width=680,
visualization_height=680,
success_threshold=0.95,
):
super().__init__()
# Observations
Expand Down Expand Up @@ -178,7 +181,7 @@ def __init__(
self.teleop = None
self._last_action = None

self.success_threshold = 0.95 # 95% coverage
self.success_threshold = success_threshold

def _initialize_observation_space(self):
if self.obs_type == "state":
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