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Fix joint passage reward function #167

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Fix joint passage reward function #167

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0618cbf
Fix: correct joint-passage reward function (issue #145)
Benabdellah22 Oct 24, 2025
83212ef
Fix: correct joint-passage reward function (issue proroklab#145)
Benabdellah22 Oct 26, 2025
729283b
fix typo
Benabdellah22 Oct 26, 2025
6938170
fix typo
Benabdellah22 Oct 26, 2025
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11 changes: 5 additions & 6 deletions vmas/scenarios/joint_passage.py
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Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,7 @@ def make_world(self, batch_dim: int, device: torch.device, **kwargs):
device,
x_semidim=1,
y_semidim=1,
substeps=7 if not self.asym_package else 10,
substeps=2, # 7 if not self.asym_package else 10,
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@matteobettini matteobettini Oct 26, 2025

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Is this supposed to be here?

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@Benabdellah22 Benabdellah22 Oct 26, 2025

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i just reduced substeps to 2 for faster iteration, it's not supposed to be here

joint_force=900 if self.asym_package else 400,
collision_force=2500 if self.asym_package else 1500,
drag=0.25 if not self.asym_package else 0.15,
Expand Down Expand Up @@ -458,11 +458,10 @@ def reward(self, agent: Agent):
self.world.get_distance(a, passage)
<= self.min_collision_distance
] += self.collision_reward
for wall in self.walls:
self.collision_rew[
self.world.get_distance(a, wall)
<= self.min_collision_distance
] += self.collision_reward
for wall in self.walls:
self.collision_rew[
self.world.get_distance(a, wall) <= self.min_collision_distance
] += self.collision_reward

# Joint collisions
for p in self.passages:
Expand Down