Ediited an README.md file

README.md

@@ -209,7 +209,7 @@ class DroneObservation(BaseModel):
 | Max Steps | 60 | 100 | 160 |
 | Battery | 60 | 100 | 160 |
 | `r_delivery` | +1.0 | +0.8 | +0.6 |
-| `r_battery_dead` | −0.5 | −0.5 | −1.0 |
+| `r_battery_dead` | 0.10 | 0.15 | 0.25 |
 
 ---
 
@@ -474,11 +474,17 @@ MODEL_NAME=Qwen/Qwen2.5-72B-Instruct python inference.py
 The runner emits structured benchmark-compatible log lines:
 
 ```
-[START] task=easy_delivery env=drone_env_v1 model=Qwen/Qwen2.5-7B-Instruct
-[STEP] step=1 action=RIGHT reward=-0.05 done=false error=null
-[STEP] step=2 action=DOWN reward=-0.05 done=false error=null
+[START] task=drone_env.core.graders:grade_easy env=drone_env_v1 model=Qwen/Qwen2.5-7B-Instruct
+[STEP] step=1 action=RIGHT reward=0.10 done=false error=null
+[STEP] step=2 action=RIGHT reward=0.10 done=false error=null
+[STEP] step=3 action=RIGHT reward=0.10 done=false error=null
+[STEP] step=4 action=LEFT reward=0.10 done=false error=null
+[STEP] step=5 action=RIGHT reward=0.10 done=false error=null
+[STEP] step=6 action=LEFT reward=0.10 done=false error=null
+[STEP] step=7 action=RIGHT reward=0.10 done=false error=null
+[STEP] step=8 action=LEFT reward=0.10 done=false error=null
 ...
-[END] success=true steps=23 score=0.847 rewards=-0.05,-0.05,1.00,...
+[END] success=true steps=23 score=0.847 rewards=0.10,0.10,0.10,0.10,0.10,0.10,0.10,0.10,...
 ```
 
 ### System Prompt

data/memory.json

@@ -1,138 +1,6 @@
 [
   {
-    "task": "easy_delivery",
-    "steps": [
-      {
-        "step": 1,
-        "x": 9,
-        "y": 0,
-        "action": "RIGHT",
-        "reward": -0.25,
-        "battery": 0.9833
-      },
-      {
-        "step": 2,
-        "x": 9,
-        "y": 0,
-        "action": "RIGHT",
-        "reward": -0.25,
-        "battery": 0.9667
-      },
-      {
-        "step": 3,
-        "x": 9,
-        "y": 0,
-        "action": "RIGHT",
-        "reward": -0.25,
-        "battery": 0.95
-      },
-      {
-        "step": 4,
-        "x": 9,
-        "y": 0,
-        "action": "RIGHT",
-        "reward": -0.25,
-        "battery": 0.9333
-      },
-      {
-        "step": 5,
-        "x": 9,
-        "y": 0,
-        "action": "RIGHT",
-        "reward": -0.25,
-        "battery": 0.9167
-      }
-    ],
-    "grid_meta": {
-      "width": 10,
-      "height": 10
-    },
-    "delivery_positions": [
-      [
-        2,
-        3
-      ]
-    ],
-    "deliveries_done": 0,
-    "total_reward": -1.25,
-    "total_steps": 5
-  },
-  {
-    "task": "easy_delivery",
-    "steps": [
-      {
-        "step": 1,
-        "x": 0,
-        "y": 5,
-        "action": "UP",
-        "reward": -0.05,
-        "battery": 0.9833
-      },
-      {
-        "step": 2,
-        "x": 1,
-        "y": 5,
-        "action": "RIGHT",
-        "reward": -0.05,
-        "battery": 0.9667
-      },
-      {
-        "step": 3,
-        "x": 1,
-        "y": 6,
-        "action": "DOWN",
-        "reward": -0.05,
-        "battery": 0.95
-      },
-      {
-        "step": 4,
-        "x": 0,
-        "y": 6,
-        "action": "LEFT",
-        "reward": -0.05,
-        "battery": 0.9333
-      },
-      {
-        "step": 5,
-        "x": 0,
-        "y": 6,
-        "action": "WAIT",
-        "reward": -0.1,
-        "battery": 0.9167
-      },
-      {
-        "step": 6,
-        "x": 0,
-        "y": 5,
-        "action": "UP",
-        "reward": -0.05,
-        "battery": 0.9
-      },
-      {
-        "step": 7,
-        "x": 1,
-        "y": 5,
-        "action": "RIGHT",
-        "reward": -0.05,
-        "battery": 0.8833
-      }
-    ],
-    "grid_meta": {
-      "width": 10,
-      "height": 10
-    },
-    "delivery_positions": [
-      [
-        7,
-        0
-      ]
-    ],
-    "deliveries_done": 0,
-    "total_reward": -0.4,
-    "total_steps": 7
-  },
-  {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -166,7 +34,7 @@
     "total_steps": 2
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -664,7 +532,7 @@
     "total_steps": 60
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -722,7 +590,7 @@
     "total_steps": 5
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -780,7 +648,7 @@
     "total_steps": 5
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -854,7 +722,7 @@
     "total_steps": 7
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -888,7 +756,7 @@
     "total_steps": 2
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -1386,7 +1254,7 @@
     "total_steps": 60
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -1436,7 +1304,7 @@
     "total_steps": 4
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -1470,7 +1338,7 @@
     "total_steps": 2
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -1520,7 +1388,7 @@
     "total_steps": 4
   },
   {
-    "task": "medium_delivery",
+    "task": "drone_env.core.graders:grade_medium",
     "steps": [
       {
         "step": 1,
@@ -1834,7 +1702,7 @@
     "total_steps": 36
   },
   {
-    "task": "hard_delivery",
+    "task": "drone_env.core.graders:grade_hard",
     "steps": [
       {
         "step": 1,
@@ -2404,7 +2272,7 @@
     "total_steps": 67
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -2470,7 +2338,7 @@
     "total_steps": 6
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -2888,7 +2756,7 @@
     "total_steps": 50
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -2986,7 +2854,7 @@
     "total_steps": 10
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -3076,7 +2944,7 @@
     "total_steps": 9
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -3206,7 +3074,7 @@
     "total_steps": 14
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -3264,7 +3132,7 @@
     "total_steps": 5
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -3322,7 +3190,7 @@
     "total_steps": 5
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -3396,7 +3264,7 @@
     "total_steps": 7
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -3430,7 +3298,7 @@
     "total_steps": 2
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -3928,7 +3796,7 @@
     "total_steps": 60
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -3986,7 +3854,7 @@
     "total_steps": 5
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -4044,7 +3912,7 @@
     "total_steps": 5
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -4118,7 +3986,7 @@
     "total_steps": 7
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -4152,7 +4020,7 @@
     "total_steps": 2
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -4650,7 +4518,7 @@
     "total_steps": 60
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -4708,7 +4576,7 @@
     "total_steps": 5
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -4766,7 +4634,7 @@
     "total_steps": 5
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -4840,7 +4708,7 @@
     "total_steps": 7
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -4874,7 +4742,7 @@
     "total_steps": 2
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -5140,7 +5008,7 @@
     "total_steps": 31
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -5198,7 +5066,7 @@
     "total_steps": 5
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -5256,7 +5124,7 @@
     "total_steps": 5
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -5330,7 +5198,7 @@
     "total_steps": 7
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -5364,7 +5232,7 @@
     "total_steps": 2
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -5686,7 +5554,7 @@
     "total_steps": 38
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -5736,7 +5604,7 @@
     "total_steps": 4
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -5802,7 +5670,7 @@
     "total_steps": 6
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -5852,7 +5720,7 @@
     "total_steps": 4
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -6014,7 +5882,7 @@
     "total_steps": 18
   },
   {
-    "task": "medium_delivery",
+    "task": "drone_env.core.graders:grade_medium",
     "steps": [
       {
         "step": 1,
@@ -6232,7 +6100,7 @@
     "total_steps": 24
   },
   {
-    "task": "hard_delivery",
+    "task": "drone_env.core.graders:grade_hard",
     "steps": [
       {
         "step": 1,
@@ -6794,7 +6662,7 @@
     "total_steps": 66
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -6852,7 +6720,7 @@
     "total_steps": 5
   },
   {
-    "task": "medium_delivery",
+    "task": "drone_env.core.graders:grade_medium",
     "steps": [
       {
         "step": 1,
@@ -7070,7 +6938,7 @@
     "total_steps": 24
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -7128,7 +6996,7 @@
     "total_steps": 5
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -7202,7 +7070,7 @@
     "total_steps": 7
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -7316,7 +7184,7 @@
     "total_steps": 12
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -7382,7 +7250,7 @@
     "total_steps": 6
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -7456,7 +7324,7 @@
     "total_steps": 7
   },
   {
-    "task": "medium_delivery",
+    "task": "drone_env.core.graders:grade_medium",
     "steps": [
       {
         "step": 1,
@@ -7770,7 +7638,7 @@
     "total_steps": 36
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -7820,7 +7688,7 @@
     "total_steps": 4
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -7886,7 +7754,7 @@
     "total_steps": 6
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -7907,7 +7775,7 @@
     "total_steps": 1
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -8013,7 +7881,7 @@
     "total_steps": 11
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -8071,7 +7939,7 @@
     "total_steps": 5
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -8193,7 +8061,7 @@
     "total_steps": 13
   },
   {
-    "task": "medium_delivery",
+    "task": "drone_env.core.graders:grade_medium",
     "steps": [
       {
         "step": 1,
@@ -8379,7 +8247,7 @@
     "total_steps": 20
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -8469,7 +8337,7 @@
     "total_steps": 9
   },
   {
-    "task": "medium_delivery",
+    "task": "drone_env.core.graders:grade_medium",
     "steps": [
       {
         "step": 1,
@@ -8607,7 +8475,7 @@
     "total_steps": 14
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -8665,7 +8533,7 @@
     "total_steps": 5
   },
   {
-    "task": "medium_delivery",
+    "task": "drone_env.core.graders:grade_medium",
     "steps": [
       {
         "step": 1,
@@ -8963,7 +8831,7 @@
     "total_steps": 34
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -9461,7 +9329,7 @@
     "total_steps": 60
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -9559,7 +9427,7 @@
     "total_steps": 10
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -9601,7 +9469,7 @@
     "total_steps": 3
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -9651,7 +9519,7 @@
     "total_steps": 4
   },
   {
-    "task": "medium_delivery",
+    "task": "drone_env.core.graders:grade_medium",
     "steps": [
       {
         "step": 1,
@@ -9866,7 +9734,7 @@
     "total_steps": 21
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -10001,7 +9869,7 @@
     "total_steps": 13
   },
   {
-    "task": "medium_delivery",
+    "task": "drone_env.core.graders:grade_medium",
     "steps": [
       {
         "step": 1,
@@ -10378,7 +10246,7 @@
     "total_steps": 39
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -10450,7 +10318,7 @@
     "total_steps": 6
   },
   {
-    "task": "medium_delivery",
+    "task": "drone_env.core.graders:grade_medium",
     "steps": [
       {
         "step": 1,
@@ -10674,7 +10542,7 @@
     "total_steps": 22
   },
   {
-    "task": "hard_delivery",
+    "task": "drone_env.core.graders:grade_hard",
     "steps": [
       {
         "step": 1,
@@ -11104,7 +10972,7 @@
     "total_steps": 44
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -11158,7 +11026,7 @@
     "total_steps": 4
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -11284,7 +11152,7 @@
     "total_steps": 12
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -11401,7 +11269,7 @@
     "total_steps": 11
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -11518,7 +11386,7 @@
     "total_steps": 11
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -11554,7 +11422,7 @@
     "total_steps": 2
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -11581,7 +11449,7 @@
     "total_steps": 1
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -11743,7 +11611,7 @@
     "total_steps": 16
   },
   {
-    "task": "medium_delivery",
+    "task": "drone_env.core.graders:grade_medium",
     "steps": [
       {
         "step": 1,
@@ -12039,7 +11907,7 @@
     "total_steps": 30
   },
   {
-    "task": "hard_delivery",
+    "task": "drone_env.core.graders:grade_hard",
     "steps": [
       {
         "step": 1,
@@ -12649,7 +12517,7 @@
     "total_steps": 64
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -12685,7 +12553,7 @@
     "total_steps": 2
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -12739,7 +12607,7 @@
     "total_steps": 4
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -12829,7 +12697,7 @@
     "total_steps": 8
   },
   {
-    "task": "easy_delivery",
+    "task": "drone_env.core.graders:grade_easy",
     "steps": [
       {
         "step": 1,
@@ -16504,5 +16372,635 @@
     "deliveries_done": 0,
     "total_reward": 6.1,
     "total_steps": 60
+  },
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+        "x": 8,
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+        "action": "LEFT",
+        "reward": 0.1,
+        "battery": 0.9833,
+        "message": "On road \ud83d\udee3\ufe0f"
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+      {
+        "step": 2,
+        "x": 7,
+        "y": 8,
+        "action": "LEFT",
+        "reward": 0.1,
+        "battery": 0.9667,
+        "message": "Flying over a tree! \ud83c\udf33"
+      },
+      {
+        "step": 3,
+        "x": 6,
+        "y": 8,
+        "action": "LEFT",
+        "reward": 0.1,
+        "battery": 0.95,
+        "message": "On road \ud83d\udee3\ufe0f"
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+      {
+        "step": 4,
+        "x": 5,
+        "y": 8,
+        "action": "LEFT",
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+        "battery": 0.9333,
+        "message": "On road \ud83d\udee3\ufe0f"
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+      {
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+        "x": 4,
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+        "battery": 0.9167,
+        "message": "On road \ud83d\udee3\ufe0f"
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+        "battery": 0.9,
+        "message": "On road \ud83d\udee3\ufe0f"
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+        "message": "On road \ud83d\udee3\ufe0f"
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+        "message": "On road \ud83d\udee3\ufe0f"
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+        "battery": 0.85,
+        "message": "Hit DOWN boundary! \ud83d\udeab"
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+        "message": "On road \ud83d\udee3\ufe0f"
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+        "message": "Hit DOWN boundary! \ud83d\udeab"
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 ]