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调整PPO回充模式清扫与探索奖励

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郭启童
2026-04-26 16:33:44 +08:00
parent 3c3332e126
commit e0756b4846
1 changed files with 6 additions and 2 deletions
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8
agent_ppo/feature/preprocessor.py
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@@ -695,7 +695,8 @@ class Preprocessor:
# Cleaning reward / 清扫奖励 # Cleaning reward / 清扫奖励
cleaned_this_step = max(0, self.dirt_cleaned - self.last_dirt_cleaned) cleaned_this_step = max(0, self.dirt_cleaned - self.last_dirt_cleaned)
cleaned_cells = self.step_cleaned_count if self.step_cleaned_count > 0 else cleaned_this_step cleaned_cells = self.step_cleaned_count if self.step_cleaned_count > 0 else cleaned_this_step
cleaning_reward = 0.7 * cleaned_cells cleaning_scale = 0.2 if self.recharge_mode else 0.7
cleaning_reward = cleaning_scale * cleaned_cells
# Step penalty / 时间惩罚 # Step penalty / 时间惩罚
step_penalty = -0.002 step_penalty = -0.002
@@ -734,7 +735,10 @@ class Preprocessor:
# Encourage covering new passable cells and mildly discourage loops. # Encourage covering new passable cells and mildly discourage loops.
# 鼓励探索新格子，轻微惩罚反复绕圈。 # 鼓励探索新格子，轻微惩罚反复绕圈。
exploration_reward = 0.004 if self.is_new_cell else -0.0015 * min(self.current_visit_count, 6) if self.recharge_mode:
exploration_reward = 0.0
else:
exploration_reward = 0.004 if self.is_new_cell else -0.0015 * min(self.current_visit_count, 6)
# Collision/stuck signal: invalid moves waste both step and battery. # Collision/stuck signal: invalid moves waste both step and battery.
# 撞墙/原地不动会浪费步数和电量。 # 撞墙/原地不动会浪费步数和电量。