gqt
efbc612945
扩展观测特征到157维，加入充电桩、NPC、电量安全余量、地图统计和本步清扫信息。 增加低电量回充动作过滤、NPC危险区过滤，并调整奖励和终局日志以突出充电、避障和真实清扫得分。
56 lines
1.4 KiB
Python
56 lines
1.4 KiB
Python
#!/usr/bin/env python3
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# -*- coding: UTF-8 -*-
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###########################################################################
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# Copyright © 1998 - 2026 Tencent. All Rights Reserved.
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###########################################################################
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"""
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Author: Tencent AI Arena Authors
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Configuration for Robot Vacuum PPO agent.
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清扫大作战 PPO 配置。
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"""
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class Config:
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# Feature dimensions (157D)
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# 特征维度（157D）
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FEATURES = [
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11 * 11, # wider local map view / 更大的局部地图视野
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28, # global, charger, NPC, and map-stat features / 全局、充电桩、NPC、地图统计特征
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8, # last action one-hot / 上一步动作 one-hot
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]
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FEATURE_SPLIT_SHAPE = FEATURES
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FEATURE_LEN = sum(FEATURES)
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DIM_OF_OBSERVATION = FEATURE_LEN
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# Action space: 8 directional moves
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# 动作空间：8个方向移动
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ACTION_NUM = 8
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# Single-head value
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# 单头价值
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VALUE_NUM = 1
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# PPO hyperparameters
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# PPO 超参数
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GAMMA = 0.99
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LAMDA = 0.95
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INIT_LEARNING_RATE_START = 0.00025
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BETA_START = 0.008
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BETA_END = 0.002
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BETA_DECAY_STEPS = 4000
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CLIP_PARAM = 0.2
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VF_COEF = 0.5
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PPO_EPOCHS = 3
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MINI_BATCH_SIZE = 256
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NORMALIZE_ADVANTAGE = True
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TARGET_KL = 0.04
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LABEL_SIZE_LIST = [ACTION_NUM]
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LEGAL_ACTION_SIZE_LIST = LABEL_SIZE_LIST.copy()
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USE_GRAD_CLIP = True
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GRAD_CLIP_RANGE = 0.5
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