diff --git "a/data/memory.json" "b/data/memory.json" --- "a/data/memory.json" +++ "b/data/memory.json" @@ -4,43 +4,35 @@ "steps": [ { "step": 1, - "x": 1, - "y": 0, - "action": "UP", - "reward": -0.25, + "x": 7, + "y": 7, + "action": "LEFT", + "reward": -0.05, "battery": 0.9833 }, { "step": 2, - "x": 1, - "y": 1, - "action": "DOWN", - "reward": -0.05, + "x": 6, + "y": 7, + "action": "LEFT", + "reward": -0.1, "battery": 0.9667 }, { "step": 3, - "x": 0, - "y": 1, - "action": "LEFT", - "reward": -0.1, + "x": 6, + "y": 6, + "action": "UP", + "reward": -0.05, "battery": 0.95 }, { "step": 4, - "x": 1, - "y": 1, - "action": "RIGHT", - "reward": -0.05, + "x": 5, + "y": 6, + "action": "LEFT", + "reward": 0.95, "battery": 0.9333 - }, - { - "step": 5, - "x": 1, - "y": 1, - "action": "WAIT", - "reward": -0.1, - "battery": 0.9167 } ], "grid_meta": { @@ -49,56 +41,64 @@ }, "delivery_positions": [ [ - 0, - 4 + 5, + 6 ] ], - "deliveries_done": 0, - "total_reward": -0.55, - "total_steps": 5 + "deliveries_done": 1, + "total_reward": 0.75, + "total_steps": 4 }, { "task": "drone_env.core.graders:grade_easy", "steps": [ { "step": 1, - "x": 2, - "y": 0, + "x": 3, + "y": 7, "action": "RIGHT", "reward": -0.05, "battery": 0.9833 }, { "step": 2, - "x": 3, - "y": 0, + "x": 4, + "y": 7, "action": "RIGHT", "reward": -0.05, "battery": 0.9667 }, { "step": 3, - "x": 4, - "y": 0, + "x": 5, + "y": 7, "action": "RIGHT", "reward": -0.05, "battery": 0.95 }, { "step": 4, - "x": 5, - "y": 0, + "x": 6, + "y": 7, "action": "RIGHT", - "reward": -0.1, + "reward": -0.05, "battery": 0.9333 }, { "step": 5, - "x": 6, - "y": 0, + "x": 7, + "y": 7, "action": "RIGHT", - "reward": -0.05, + "reward": -0.1, "battery": 0.9167 + }, + { + "step": 6, + "x": 8, + "y": 7, + "action": "RIGHT", + "reward": 0.95, + "battery": 0.9 } ], "grid_meta": { @@ -107,20 +107,20 @@ }, "delivery_positions": [ [ - 0, - 4 + 8, + 7 ] ], - "deliveries_done": 0, - "total_reward": -0.3, - "total_steps": 5 + "deliveries_done": 1, + 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"message": "\u2705 Delivery 1/3 done!" + }, + { + "step": 22, + "x": 12, + "y": 13, + "action": "LEFT", + "reward": 0.15, + "battery": 0.78, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 23, + "x": 11, + "y": 13, + "action": "LEFT", + "reward": 0.15, + "battery": 0.77, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 24, + "x": 10, + "y": 13, + "action": "LEFT", + "reward": 0.15, + "battery": 0.76, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 25, + "x": 10, + "y": 12, "action": "UP", - "reward": 0.05, - "battery": 0.9333 + "reward": 0.15, + "battery": 0.75, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 5, + "step": 26, "x": 9, - "y": 4, - "action": "UP", - "reward": 0.05, - "battery": 0.9167 + "y": 12, + "action": "LEFT", + "reward": 0.15, + "battery": 0.74, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 6, + "step": 27, "x": 9, - "y": 3, + "y": 11, "action": "UP", - "reward": 0.05, - "battery": 0.9 + "reward": 0.15, + "battery": 0.73, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 7, + "step": 28, "x": 8, - "y": 3, + "y": 11, "action": "LEFT", - "reward": 0.05, - "battery": 0.8833 + "reward": 0.15, + "battery": 0.72, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 8, + "step": 29, "x": 8, - "y": 2, + "y": 10, "action": "UP", - "reward": 0.05, - "battery": 0.8667 + "reward": 0.15, + "battery": 0.71, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 9, + "step": 30, "x": 7, - "y": 2, + "y": 10, "action": "LEFT", - "reward": 0.02, - "battery": 0.85 + "reward": 0.15, + "battery": 0.7, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 10, + "step": 31, "x": 7, - "y": 1, + "y": 9, "action": "UP", - "reward": 0.05, - "battery": 0.8333 + "reward": 0.15, + "battery": 0.69, + "message": "Flying over a tree! \ud83c\udf33" }, { - "step": 11, + "step": 32, "x": 6, - "y": 1, + "y": 9, "action": "LEFT", - "reward": 0.05, - "battery": 0.8167 + "reward": 0.15, + "battery": 0.68, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 12, + "step": 33, "x": 6, - "y": 0, + "y": 8, "action": "UP", - "reward": 0.05, - "battery": 0.8 + "reward": 0.15, + "battery": 0.67, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 13, + "step": 34, "x": 5, - "y": 0, + "y": 8, "action": "LEFT", - "reward": 1.0, - "battery": 0.7833 - } - ], - "grid_meta": { - "width": 10, - "height": 10 - }, - "delivery_positions": [ - [ - 5, - 0 - ] - ], - "deliveries_done": 1, - "total_reward": 1.54, - "total_steps": 13 - }, - { - "task": "drone_env.core.graders:grade_medium", - "steps": [ - { - "step": 1, - "x": 10, - "y": 4, - "action": "DOWN", - "reward": 0.04, - "battery": 0.99 - }, - { - "step": 2, - "x": 10, - "y": 5, - "action": "DOWN", - "reward": 0.04, - "battery": 0.98 + "reward": 1.05, + "battery": 0.66, + "message": "\u2705 Delivery 2/3 done!" }, { - "step": 3, - "x": 10, - "y": 6, - "action": "DOWN", - "reward": 0.04, - "battery": 0.97 + "step": 35, + "x": 4, + "y": 8, + "action": "LEFT", + "reward": 0.15, + "battery": 0.65, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 4, - "x": 10, - "y": 7, - "action": "DOWN", - "reward": 0.04, - "battery": 0.96 + "step": 36, + "x": 3, + "y": 8, + "action": "LEFT", + "reward": 0.15, + "battery": 0.64, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 5, - "x": 10, + "step": 37, + "x": 2, "y": 8, - "action": "DOWN", - "reward": 0.04, - "battery": 0.95 + "action": "LEFT", + "reward": 0.15, + "battery": 0.63, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 6, - "x": 10, + "step": 38, + "x": 2, "y": 9, "action": "DOWN", - "reward": 0.04, - "battery": 0.94 - }, - { - "step": 7, - "x": 10, - "y": 10, - "action": "DOWN", - "reward": 0.04, - "battery": 0.93 - }, - { - "step": 8, - "x": 10, - "y": 11, - "action": "DOWN", - "reward": 0.04, - "battery": 0.92 - }, - { - "step": 9, - "x": 9, - "y": 11, - "action": "LEFT", - "reward": 0.94, - "battery": 0.91 - }, - { - "step": 10, - "x": 9, - "y": 10, - "action": "UP", - "reward": 0.94, - "battery": 0.9 + "reward": 0.15, + "battery": 0.62, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 11, - "x": 9, + "step": 39, + "x": 1, "y": 9, - "action": "UP", - "reward": 0.04, - "battery": 0.89 - }, - { - "step": 12, - "x": 9, - "y": 8, - "action": "UP", - "reward": 0.11, - "battery": 0.88 - }, - { - "step": 13, - "x": 9, - "y": 7, - "action": "UP", - "reward": 0.04, - "battery": 0.87 - }, - { - "step": 14, - "x": 9, - "y": 6, - "action": "UP", - "reward": 0.04, - "battery": 0.86 - }, - { - "step": 15, - "x": 9, - "y": 5, - "action": "UP", - "reward": 0.04, - "battery": 0.85 - }, - { - "step": 16, - "x": 9, - "y": 4, - "action": "UP", - "reward": 0.04, - "battery": 0.84 - }, - { - "step": 17, - "x": 9, - "y": 3, - "action": "UP", - "reward": 0.04, - "battery": 0.83 - }, - { - "step": 18, - "x": 10, - "y": 3, - "action": "RIGHT", - "reward": 0.04, - "battery": 0.82 - }, - { - "step": 19, - "x": 10, - "y": 2, - "action": "UP", - "reward": 0.02, - "battery": 0.81 - }, - { - "step": 20, - "x": 11, - "y": 2, - "action": "RIGHT", - "reward": 0.94, - "battery": 0.8 + "action": "LEFT", + "reward": 1.05, + "battery": 0.61, + "message": "\u2705 Delivery 3/3 done!" } ], "grid_meta": { @@ -5156,96 +4675,78 @@ }, "delivery_positions": [ [ - 9, - 11 + 13, + 13 ], [ - 11, - 2 + 5, + 8 ], [ - 9, - 10 + 1, + 9 ] ], "deliveries_done": 3, - "total_reward": 3.55, - "total_steps": 20 + "total_reward": 8.75, + "total_steps": 39 }, { "task": "drone_env.core.graders:grade_easy", "steps": [ { "step": 1, - "x": 1, - "y": 3, - "action": "RIGHT", - "reward": 0.05, - "battery": 0.9833 + "x": 7, + "y": 5, + "action": "UP", + "reward": 0.1, + "battery": 0.9833, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 2, - "x": 2, - "y": 3, - "action": "RIGHT", - "reward": 0.05, - "battery": 0.9667 + "x": 7, + "y": 4, + "action": "UP", + "reward": 0.1, + "battery": 0.9667, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 3, - "x": 3, + "x": 7, "y": 3, - "action": "RIGHT", - "reward": 0.05, - "battery": 0.95 + "action": "UP", + "reward": 0.1, + "battery": 0.95, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 4, - "x": 4, - "y": 3, - "action": "RIGHT", - "reward": 0.05, - "battery": 0.9333 + "x": 7, + "y": 2, + "action": "UP", + "reward": 0.1, + "battery": 0.9333, + "message": "Flying above a building! \ud83c\udfe2" }, { "step": 5, - "x": 5, - "y": 3, - "action": "RIGHT", - "reward": 0.05, - "battery": 0.9167 + "x": 7, + "y": 1, + "action": "UP", + "reward": 0.1, + "battery": 0.9167, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 6, - "x": 5, - "y": 4, - "action": "DOWN", - "reward": 0.05, - "battery": 0.9 - }, - { - "step": 7, - "x": 6, - "y": 4, - "action": "RIGHT", - "reward": 0.05, - "battery": 0.8833 - }, - { - "step": 8, - "x": 6, - "y": 5, - "action": "DOWN", - "reward": 0.05, - "battery": 0.8667 - }, - { - "step": 9, "x": 7, - "y": 5, - "action": "RIGHT", - "reward": 1.0, - "battery": 0.85 + "y": 0, + "action": "UP", + "reward": 1.05, + "battery": 0.9, + "message": "\u2705 Delivery 1/1 done!" } ], "grid_meta": { @@ -5255,12 +4756,12 @@ "delivery_positions": [ [ 7, - 5 + 0 ] ], "deliveries_done": 1, - "total_reward": 1.4, - "total_steps": 9 + "total_reward": 1.55, + "total_steps": 6 }, { "task": "drone_env.core.graders:grade_medium", @@ -5268,114 +4769,200 @@ { "step": 1, "x": 2, - "y": 6, - "action": "RIGHT", - "reward": 0.04, - "battery": 0.99 + "y": 11, + "action": "UP", + "reward": 0.15, + "battery": 0.99, + "message": "Flying over a tree! \ud83c\udf33" }, { "step": 2, - "x": 3, - "y": 6, - "action": "RIGHT", - "reward": 0.04, - "battery": 0.98 + "x": 2, + "y": 10, + "action": "UP", + "reward": 0.15, + "battery": 0.98, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 3, - "x": 4, - "y": 6, - "action": "RIGHT", - "reward": 0.94, - "battery": 0.97 + "x": 1, + "y": 10, + "action": "LEFT", + "reward": 0.15, + "battery": 0.97, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 4, - "x": 4, - "y": 7, - "action": "DOWN", - "reward": 0.04, - "battery": 0.96 + "x": 1, + "y": 9, + "action": "UP", + "reward": 0.35, + "battery": 0.96, + "message": "Hit obstacle! \ud83d\udea7" }, { "step": 5, - "x": 3, - "y": 7, + "x": 0, + "y": 9, "action": "LEFT", - "reward": 0.94, - "battery": 0.95 + "reward": 1.05, + "battery": 0.95, + "message": "\u2705 Delivery 1/3 done!" }, { "step": 6, - "x": 4, - "y": 7, + "x": 1, + "y": 9, "action": "RIGHT", - "reward": 0.04, - "battery": 0.94 + "reward": 0.35, + "battery": 0.94, + "message": "Hit obstacle! \ud83d\udea7" }, { "step": 7, - "x": 5, - "y": 7, - "action": "RIGHT", - "reward": 0.04, - "battery": 0.93 + "x": 1, + "y": 8, + "action": "UP", + "reward": 0.15, + "battery": 0.93, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 8, - "x": 6, - "y": 7, + "x": 2, + "y": 8, "action": "RIGHT", - "reward": 0.02, - "battery": 0.92 + "reward": 0.15, + "battery": 0.92, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 9, - 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- "y": 7, + "x": 5, + "y": 5, "action": "RIGHT", - "reward": 0.94, - "battery": 0.86 + "reward": 0.15, + "battery": 0.86, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 15, + "x": 5, + "y": 4, + "action": "UP", + "reward": 0.15, + "battery": 0.85, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 16, + "x": 6, + "y": 4, + "action": "RIGHT", + "reward": 1.05, + "battery": 0.84, + "message": "\u2705 Delivery 2/3 done!" + }, + { + "step": 17, + "x": 5, + "y": 4, + "action": "LEFT", + "reward": 0.15, + "battery": 0.83, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 18, + "x": 4, + "y": 4, + "action": "LEFT", + "reward": 0.15, + "battery": 0.82, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 19, + "x": 3, + "y": 4, + "action": "LEFT", + "reward": 0.15, + "battery": 0.81, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 20, + "x": 2, + "y": 4, + "action": "LEFT", + "reward": 0.15, + "battery": 0.8, + "message": "On road 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"message": "\u2705 Delivery 2/3 done!" + "reward": 1.1, + "battery": 0.6875, + "message": "\u2705 Delivery 4/5 done!" }, { - "step": 35, - "x": 4, + "step": 51, + "x": 6, "y": 8, - "action": "LEFT", - "reward": 0.15, - "battery": 0.65, + "action": "RIGHT", + "reward": 0.25, + "battery": 0.6813, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 36, - "x": 3, + "step": 52, + "x": 7, "y": 8, - "action": "LEFT", - "reward": 0.15, - "battery": 0.64, + "action": "RIGHT", + "reward": 0.25, + "battery": 0.675, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 37, - "x": 2, + "step": 53, + "x": 8, "y": 8, - "action": "LEFT", - "reward": 0.15, - "battery": 0.63, + "action": "RIGHT", + "reward": 0.25, + "battery": 0.6687, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 38, - "x": 2, - "y": 9, - "action": "DOWN", - "reward": 0.15, - "battery": 0.62, + "step": 54, + "x": 9, + "y": 8, + "action": "RIGHT", + "reward": 0.25, + "battery": 0.6625, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 39, - "x": 1, - "y": 9, - "action": "LEFT", - "reward": 1.05, - "battery": 0.61, - "message": "\u2705 Delivery 3/3 done!" + "step": 55, + "x": 10, + "y": 8, + "action": "RIGHT", + "reward": 0.25, + "battery": 0.6562, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 56, + "x": 11, + "y": 8, + "action": "RIGHT", + "reward": 0.55, + "battery": 0.65, + "message": "Hit obstacle! \ud83d\udea7" + }, + { + "step": 57, + "x": 12, + "y": 8, + "action": "RIGHT", + "reward": 0.25, + "battery": 0.6438, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 58, + "x": 13, + "y": 8, + "action": "RIGHT", + "reward": 0.25, + "battery": 0.6375, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 59, + "x": 14, + "y": 8, + "action": "RIGHT", + "reward": 0.25, + "battery": 0.6312, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 60, + "x": 15, + "y": 8, + "action": "RIGHT", + "reward": 0.25, + "battery": 0.625, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 61, + "x": 15, + "y": 7, + "action": "UP", + "reward": 0.55, + "battery": 0.6188, + "message": "Hit obstacle! \ud83d\udea7" + }, + { + "step": 62, + "x": 16, + "y": 7, + "action": "RIGHT", + "reward": 0.25, + "battery": 0.6125, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 63, + "x": 16, + "y": 6, + "action": "UP", + "reward": 0.25, + "battery": 0.6062, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 64, + "x": 17, + "y": 6, + "action": "RIGHT", + "reward": 1.1, + "battery": 0.6, + "message": "\u2705 Delivery 5/5 done!" } ], "grid_meta": { - "width": 14, - "height": 14 + "width": 18, + "height": 18 }, "delivery_positions": [ [ - 13, - 13 + 5, + 4 + ], + [ + 3, + 8 + ], + [ + 12, + 16 ], [ 5, 8 ], [ - 1, - 9 + 17, + 6 ] ], - "deliveries_done": 3, - "total_reward": 8.75, - "total_steps": 39 + "deliveries_done": 5, + "total_reward": 21.45, + "total_steps": 64 }, { "task": "drone_env.core.graders:grade_easy", "steps": [ { "step": 1, - "x": 7, + "x": 8, "y": 5, "action": "UP", "reward": 0.1, @@ -7185,47 +6976,65 @@ }, { "step": 2, - "x": 7, + "x": 8, "y": 4, "action": "UP", - "reward": 0.1, + "reward": 1.05, "battery": 0.9667, - "message": "On road \ud83d\udee3\ufe0f" - }, + "message": "\u2705 Delivery 1/1 done!" + } + ], + "grid_meta": { + "width": 10, + "height": 10 + }, + "delivery_positions": [ + [ + 8, + 4 + ] + ], + "deliveries_done": 1, + "total_reward": 1.15, + "total_steps": 2 + }, + { + "task": "drone_env.core.graders:grade_easy", + "steps": [ { - "step": 3, - "x": 7, - "y": 3, - "action": "UP", + "step": 1, + "x": 9, + "y": 2, + "action": "DOWN", "reward": 0.1, - "battery": 0.95, + "battery": 0.9833, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 4, - "x": 7, + "step": 2, + "x": 8, "y": 2, - "action": "UP", + "action": "LEFT", "reward": 0.1, - "battery": 0.9333, - "message": "Flying above a building! \ud83c\udfe2" + "battery": 0.9667, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 5, - "x": 7, - "y": 1, - "action": "UP", + "step": 3, + "x": 8, + "y": 3, + "action": "DOWN", "reward": 0.1, - "battery": 0.9167, - "message": "On road \ud83d\udee3\ufe0f" + "battery": 0.95, + "message": "Flying over a tree! \ud83c\udf33" }, { - "step": 6, + "step": 4, "x": 7, - "y": 0, - "action": "UP", + "y": 3, + "action": "LEFT", "reward": 1.05, - "battery": 0.9, + "battery": 0.9333, "message": "\u2705 Delivery 1/1 done!" } ], @@ -7236,705 +7045,645 @@ "delivery_positions": [ [ 7, - 0 + 3 ] ], "deliveries_done": 1, - "total_reward": 1.55, - "total_steps": 6 + "total_reward": 1.35, + "total_steps": 4 }, { - "task": "drone_env.core.graders:grade_medium", + "task": "drone_env.core.graders:grade_easy", "steps": [ { "step": 1, - "x": 2, - "y": 11, + "x": 0, + "y": 8, "action": "UP", - "reward": 0.15, - "battery": 0.99, - "message": "Flying over a tree! \ud83c\udf33" + "reward": 0.1, + "battery": 0.9833, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 2, - "x": 2, - "y": 10, + "x": 0, + "y": 7, 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+ "battery": 0.9, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 7, + "x": 0, + "y": 2, + "action": "UP", + "reward": 0.1, + "battery": 0.8833, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 8, "x": 1, + "y": 2, + "action": "RIGHT", + "reward": 1.05, + "battery": 0.8667, + "message": "\u2705 Delivery 1/1 done!" + } + ], + "grid_meta": { + "width": 10, + "height": 10 + }, + "delivery_positions": [ + [ + 1, + 2 + ] + ], + "deliveries_done": 1, + "total_reward": 1.75, + "total_steps": 8 + }, + { + "task": "drone_env.core.graders:grade_easy", + "steps": [ + { + "step": 1, + "x": 9, + "y": 9, + "action": "DOWN", + "reward": 0.2, + "battery": 0.9833, + "message": "Hit DOWN boundary! \ud83d\udeab" + }, + { + "step": 2, + "x": 9, "y": 8, "action": "UP", - "reward": 0.15, - "battery": 0.93, + "reward": 0.1, + "battery": 0.9667, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 3, + "x": 8, + "y": 8, + "action": "LEFT", + "reward": 0.1, + "battery": 0.95, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 4, + "x": 7, + "y": 8, + "action": "LEFT", + "reward": 0.1, + "battery": 0.9333, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 5, + "x": 6, + "y": 8, + "action": "LEFT", + "reward": 0.1, + "battery": 0.9167, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 6, + "x": 5, + "y": 8, + "action": "LEFT", + "reward": 0.1, + "battery": 0.9, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 7, + "x": 4, + "y": 8, + "action": "LEFT", + "reward": 0.1, + "battery": 0.8833, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 8, - "x": 2, + "x": 3, "y": 8, - "action": "RIGHT", - "reward": 0.15, - "battery": 0.92, + "action": "LEFT", + "reward": 0.1, + "battery": 0.8667, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 9, "x": 2, - "y": 7, - "action": "UP", - "reward": 0.15, - "battery": 0.91, + "y": 8, + "action": "LEFT", + "reward": 0.1, + "battery": 0.85, "message": "On road \ud83d\udee3\ufe0f" }, 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"action": "LEFT", - "reward": 0.25, - "battery": 0.8, - "message": "On road \ud83d\udee3\ufe0f" + "step": 52, + "x": 1, + "y": 9, + "action": "WAIT", + "reward": 0.1, + "battery": 0.1333, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { - "step": 33, - "x": 8, - "y": 8, - "action": "LEFT", - "reward": 0.25, - "battery": 0.7937, - "message": "On road \ud83d\udee3\ufe0f" + "step": 53, + "x": 1, + "y": 9, + "action": "WAIT", + "reward": 0.1, + "battery": 0.1167, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { - "step": 34, - "x": 7, - "y": 8, - "action": "LEFT", - "reward": 0.25, - "battery": 0.7875, - "message": "On road \ud83d\udee3\ufe0f" + "step": 54, + "x": 1, + "y": 9, + "action": "WAIT", + "reward": 0.1, + "battery": 0.1, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { - "step": 35, - "x": 6, - "y": 8, - "action": "LEFT", - "reward": 0.25, - "battery": 0.7812, - "message": "On road \ud83d\udee3\ufe0f" + "step": 55, + "x": 1, + "y": 9, + "action": "WAIT", + "reward": 0.1, + "battery": 0.0833, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { - "step": 36, - "x": 5, - "y": 8, - "action": "LEFT", - "reward": 0.25, - "battery": 0.775, - "message": "Flying over a tree! \ud83c\udf33" - }, - { - "step": 37, - "x": 5, - "y": 9, - "action": "DOWN", - "reward": 0.55, - "battery": 0.7688, - "message": "Hit obstacle! \ud83d\udea7" - }, - { - "step": 38, - "x": 4, - "y": 9, - "action": "LEFT", - "reward": 1.1, - "battery": 0.7625, - "message": "\u2705 Delivery 3/5 done!" - }, - { - "step": 39, - "x": 4, - "y": 8, - "action": "UP", - "reward": 1.1, - "battery": 0.7562, - "message": "\u2705 Delivery 4/5 done!" - }, - { - "step": 40, - "x": 4, + "step": 56, + "x": 1, "y": 9, - "action": "DOWN", - "reward": 0.25, - "battery": 0.75, - "message": "Flying over delivery \ud83d\udce6" - }, - { - "step": 41, - "x": 4, - "y": 10, - "action": "DOWN", - "reward": 0.25, - "battery": 0.7438, - "message": "On road \ud83d\udee3\ufe0f" - }, - { - "step": 42, - "x": 3, - "y": 10, - "action": "LEFT", - "reward": 0.25, - "battery": 0.7375, - "message": "On road \ud83d\udee3\ufe0f" - }, - { - "step": 43, - "x": 3, - "y": 11, - "action": "DOWN", - "reward": 0.25, - "battery": 0.7312, - "message": "On road \ud83d\udee3\ufe0f" + "action": "WAIT", + "reward": 0.1, + "battery": 0.0667, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { - "step": 44, - "x": 2, - "y": 11, - "action": "LEFT", - "reward": 1.1, - "battery": 0.725, - "message": "\u2705 Delivery 5/5 done!" - } - ], - "grid_meta": { - "width": 18, - "height": 18 - }, - "delivery_positions": [ - [ - 9, - 13 - ], - [ - 15, - 8 - ], - [ - 4, - 9 - ], - [ - 4, - 8 - ], - [ - 2, - 11 - ] - ], - "deliveries_done": 5, - "total_reward": 15.85, - "total_steps": 44 - }, - { - "task": "drone_env.core.graders:grade_easy", - "steps": [ - { - "step": 1, - "x": 5, + "step": 57, + "x": 1, "y": 9, - "action": "LEFT", + "action": "WAIT", "reward": 0.1, - "battery": 0.9833, - "message": "On road \ud83d\udee3\ufe0f" + "battery": 0.05, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { - "step": 2, - "x": 4, + "step": 58, + "x": 1, "y": 9, - "action": "LEFT", + "action": "WAIT", "reward": 0.1, - "battery": 0.9667, - "message": "On road \ud83d\udee3\ufe0f" + "battery": 0.0333, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { - "step": 3, - "x": 3, + "step": 59, + "x": 1, "y": 9, - "action": "LEFT", + "action": "WAIT", "reward": 0.1, - "battery": 0.95, - "message": "On road \ud83d\udee3\ufe0f" + "battery": 0.0167, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { - "step": 4, - "x": 2, + "step": 60, + "x": 1, "y": 9, - "action": "LEFT", - "reward": 1.05, - "battery": 0.9333, - "message": "\u2705 Delivery 1/1 done!" + "action": "WAIT", + "reward": 0.1, + "battery": 0.0, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" } ], "grid_meta": { @@ -7943,66 +7692,66 @@ }, "delivery_positions": [ [ - 2, - 9 + 1, + 3 ] ], - "deliveries_done": 1, - "total_reward": 1.35, - "total_steps": 4 + "deliveries_done": 0, + "total_reward": 6.5, + "total_steps": 60 }, { "task": "drone_env.core.graders:grade_easy", "steps": [ { "step": 1, - "x": 1, - "y": 1, - "action": "DOWN", - "reward": 0.25, + "x": 2, + "y": 7, + "action": "RIGHT", + "reward": 0.1, "battery": 0.9833, - "message": "Hit obstacle! \ud83d\udea7" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 2, - "x": 1, - "y": 2, - "action": "DOWN", + "x": 3, + "y": 7, + "action": "RIGHT", "reward": 0.1, "battery": 0.9667, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 3, - "x": 1, - "y": 3, - "action": "DOWN", + "x": 4, + "y": 7, + "action": "RIGHT", "reward": 0.1, "battery": 0.95, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Flying over a tree! \ud83c\udf33" }, { "step": 4, - "x": 1, - "y": 4, - "action": "DOWN", + "x": 5, + "y": 7, + "action": "RIGHT", "reward": 0.1, "battery": 0.9333, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 5, - "x": 1, - "y": 5, - "action": "DOWN", + "x": 6, + "y": 7, + "action": "RIGHT", "reward": 0.1, "battery": 0.9167, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 6, - "x": 2, - "y": 5, + "x": 7, + "y": 7, "action": "RIGHT", "reward": 0.1, "battery": 0.9, @@ -8010,26 +7759,26 @@ }, { "step": 7, - "x": 2, - "y": 6, - "action": "DOWN", + "x": 8, + "y": 7, + "action": "RIGHT", "reward": 0.1, "battery": 0.8833, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 8, - "x": 3, - "y": 6, - "action": "RIGHT", + "x": 8, + "y": 8, + "action": "DOWN", "reward": 0.1, "battery": 0.8667, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 9, - "x": 3, - "y": 7, + "x": 8, + "y": 9, "action": "DOWN", "reward": 0.1, "battery": 0.85, @@ -8037,489 +7786,462 @@ }, { "step": 10, - "x": 4, - "y": 7, - "action": "RIGHT", - "reward": 0.1, + "x": 8, + "y": 9, + "action": "DOWN", + "reward": 0.2, "battery": 0.8333, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Hit DOWN boundary! \ud83d\udeab" }, { "step": 11, - "x": 4, + "x": 8, "y": 8, - "action": "DOWN", + "action": "UP", "reward": 0.1, "battery": 0.8167, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 12, - "x": 5, - "y": 8, - "action": "RIGHT", - "reward": 1.05, + "x": 8, + "y": 9, + "action": "DOWN", + "reward": 0.1, "battery": 0.8, - "message": "\u2705 Delivery 1/1 done!" - } - ], - "grid_meta": { - "width": 10, - "height": 10 - }, - "delivery_positions": [ - [ - 5, - 8 - ] - ], - "deliveries_done": 1, - "total_reward": 2.3, - "total_steps": 12 - }, - { - "task": "drone_env.core.graders:grade_easy", - "steps": [ + "message": "On road \ud83d\udee3\ufe0f" + }, { - "step": 1, - "x": 2, + "step": 13, + "x": 8, "y": 9, - "action": "RIGHT", - "reward": 0.1, - "battery": 0.9833, - "message": "On road \ud83d\udee3\ufe0f" + "action": "DOWN", + "reward": 0.2, + "battery": 0.7833, + "message": "Hit DOWN boundary! \ud83d\udeab" }, { - "step": 2, - "x": 2, + "step": 14, + "x": 8, "y": 8, "action": "UP", "reward": 0.1, - "battery": 0.9667, + 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+ "x": 4, + "y": 7, + "action": "DOWN", + "reward": 0.1, + "battery": 0.8833, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 8, + "x": 3, + "y": 7, + "action": "LEFT", + "reward": 1.05, + "battery": 0.8667, + "message": "\u2705 Delivery 1/1 done!" + } + ], + "grid_meta": { + "width": 10, + "height": 10 + }, + "delivery_positions": [ + [ + 3, + 7 + ] + ], + "deliveries_done": 1, + "total_reward": 1.9, + "total_steps": 8 + }, + { + "task": "drone_env.core.graders:grade_medium", + "steps": [ + { + "step": 1, + "x": 5, + "y": 5, + "action": "LEFT", + "reward": 0.15, + "battery": 0.99, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 2, + "x": 4, + "y": 5, + "action": "LEFT", + "reward": 0.15, + "battery": 0.98, + "message": "Flying above a building! \ud83c\udfe2" + }, + { + "step": 3, + "x": 3, + "y": 5, + "action": "LEFT", + "reward": 0.15, + "battery": 0.97, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 4, + "x": 3, + "y": 4, + "action": "UP", + "reward": 0.15, + "battery": 0.96, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 5, + "x": 2, + "y": 4, + "action": "LEFT", + "reward": 0.15, + "battery": 0.95, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 6, + "x": 2, + "y": 3, + "action": "UP", + "reward": 0.15, + "battery": 0.94, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 7, + "x": 1, + "y": 3, + "action": "LEFT", + "reward": 0.15, + "battery": 0.93, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 8, + "x": 1, + "y": 2, + "action": "UP", + "reward": 0.15, + "battery": 0.92, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 9, + "x": 0, + "y": 2, + "action": "LEFT", + "reward": 1.05, + "battery": 0.91, + "message": "\u2705 Delivery 1/3 done!" + }, + { + "step": 10, + "x": 1, + "y": 2, + "action": "RIGHT", + "reward": 0.15, + "battery": 0.9, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 11, + "x": 2, + "y": 2, + "action": "RIGHT", "reward": 0.15, "battery": 0.89, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 12, - "x": 5, - "y": 10, - "action": "DOWN", + "x": 3, + "y": 2, + "action": "RIGHT", "reward": 0.15, "battery": 0.88, "message": "On road \ud83d\udee3\ufe0f" @@ -8650,43 +8525,43 @@ { "step": 13, "x": 4, - "y": 10, - "action": "LEFT", - "reward": 1.05, + "y": 2, + "action": "RIGHT", + "reward": 0.15, "battery": 0.87, - "message": "\u2705 Delivery 1/3 done!" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 14, - "x": 4, - "y": 9, - "action": "UP", + "x": 5, + "y": 2, + "action": "RIGHT", "reward": 0.15, "battery": 0.86, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 15, - "x": 4, - "y": 8, - "action": "UP", + "x": 6, + "y": 2, + "action": "RIGHT", "reward": 0.15, "battery": 0.85, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 16, - "x": 4, - "y": 7, - "action": "UP", + "x": 7, + "y": 2, + "action": "RIGHT", "reward": 0.15, "battery": 0.84, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 17, - "x": 4, - "y": 6, + "x": 7, + "y": 1, "action": "UP", "reward": 0.15, "battery": 0.83, @@ -8694,71 +8569,71 @@ }, { "step": 18, - "x": 4, - "y": 5, - "action": "UP", - "reward": 0.15, + "x": 8, + "y": 1, + "action": "RIGHT", + "reward": 1.05, "battery": 0.82, - "message": "On road \ud83d\udee3\ufe0f" + "message": "\u2705 Delivery 2/3 done!" }, { "step": 19, - "x": 4, - "y": 4, - "action": "UP", + "x": 8, + "y": 2, + "action": "DOWN", "reward": 0.15, "battery": 0.81, - "message": "Flying above a building! \ud83c\udfe2" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 20, - "x": 4, + "x": 8, "y": 3, - "action": "UP", + "action": "DOWN", "reward": 0.15, "battery": 0.8, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 21, - "x": 5, - "y": 3, - "action": "RIGHT", + "x": 8, + "y": 4, + "action": "DOWN", "reward": 0.15, "battery": 0.79, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 22, - "x": 5, - "y": 2, - "action": "UP", + "x": 8, + "y": 5, + "action": "DOWN", "reward": 0.15, "battery": 0.78, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 23, - "x": 6, - "y": 2, - "action": "RIGHT", - "reward": 1.05, + "x": 8, + "y": 6, + "action": "DOWN", + "reward": 0.15, "battery": 0.77, - "message": "\u2705 Delivery 2/3 done!" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 24, - "x": 7, - "y": 2, - "action": "RIGHT", + "x": 8, + "y": 7, + "action": "DOWN", "reward": 0.15, "battery": 0.76, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 25, - "x": 7, - "y": 3, + "x": 8, + "y": 8, "action": "DOWN", "reward": 0.15, "battery": 0.75, @@ -8767,8 +8642,8 @@ { "step": 26, "x": 8, - "y": 3, - "action": "RIGHT", + "y": 9, + "action": "DOWN", "reward": 0.15, "battery": 0.74, "message": "On road \ud83d\udee3\ufe0f" @@ -8776,7 +8651,7 @@ { "step": 27, "x": 8, - "y": 4, + "y": 10, "action": "DOWN", "reward": 0.15, "battery": 0.73, @@ -8784,29 +8659,11 @@ }, { "step": 28, - "x": 9, - "y": 4, - "action": "RIGHT", - "reward": 0.15, + "x": 8, + "y": 11, + "action": "DOWN", + "reward": 1.05, "battery": 0.72, - "message": "On road \ud83d\udee3\ufe0f" - }, - { - "step": 29, - "x": 9, - "y": 5, - "action": "DOWN", - "reward": 0.15, - "battery": 0.71, - "message": "On road \ud83d\udee3\ufe0f" - }, - { - "step": 30, - "x": 10, - "y": 5, - "action": "RIGHT", - "reward": 1.05, - "battery": 0.7, "message": "\u2705 Delivery 3/3 done!" } ], @@ -8816,101 +8673,101 @@ }, "delivery_positions": [ [ - 4, - 10 + 0, + 2 ], [ - 6, - 2 + 8, + 1 ], [ - 10, - 5 + 8, + 11 ] ], "deliveries_done": 3, - "total_reward": 7.2, - "total_steps": 30 + "total_reward": 6.9, + "total_steps": 28 }, { "task": "drone_env.core.graders:grade_hard", "steps": [ { "step": 1, - "x": 14, - "y": 6, - "action": "LEFT", - "reward": 0.25, + "x": 8, + "y": 11, + "action": "RIGHT", + "reward": 1.1, "battery": 0.9938, - "message": "On road \ud83d\udee3\ufe0f" + "message": "\u2705 Delivery 1/5 done!" }, { "step": 2, - "x": 13, - "y": 6, - "action": "LEFT", + "x": 8, + "y": 10, + "action": "UP", "reward": 0.25, "battery": 0.9875, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 3, - "x": 12, - "y": 6, - "action": "LEFT", + "x": 8, + "y": 9, + "action": "UP", "reward": 0.25, "battery": 0.9812, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 4, - "x": 11, - "y": 6, - "action": "LEFT", + "x": 8, + "y": 8, + "action": "UP", "reward": 0.25, "battery": 0.975, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 5, - "x": 10, - "y": 6, - "action": "LEFT", - "reward": 0.55, + "x": 8, + "y": 7, + "action": "UP", + "reward": 0.25, "battery": 0.9688, - "message": "Hit obstacle! \ud83d\udea7" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 6, - "x": 9, + "x": 8, "y": 6, - "action": "LEFT", + "action": "UP", "reward": 0.25, "battery": 0.9625, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Flying over a tree! \ud83c\udf33" }, { "step": 7, "x": 8, - "y": 6, - "action": "LEFT", + "y": 5, + "action": "UP", "reward": 0.25, "battery": 0.9563, - "message": "Flying over a tree! \ud83c\udf33" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 8, - "x": 7, - "y": 6, - "action": "LEFT", + "x": 8, + "y": 4, + "action": "UP", "reward": 0.25, "battery": 0.95, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 9, - "x": 7, - "y": 5, + "x": 8, + "y": 3, "action": "UP", "reward": 0.25, "battery": 0.9437, @@ -8918,71 +8775,71 @@ }, { "step": 10, - "x": 6, - "y": 5, - "action": "LEFT", + "x": 8, + "y": 2, + "action": "UP", "reward": 0.25, "battery": 0.9375, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 11, - "x": 6, - "y": 4, - "action": "UP", + "x": 9, + "y": 2, + "action": "RIGHT", "reward": 0.25, "battery": 0.9313, - "message": "Flying over a tree! \ud83c\udf33" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 12, - "x": 5, - "y": 4, - "action": "LEFT", - "reward": 1.1, + "x": 9, + "y": 1, + "action": "UP", + "reward": 0.25, "battery": 0.925, - "message": "\u2705 Delivery 1/5 done!" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 13, - "x": 5, - "y": 5, - "action": "DOWN", + "x": 10, + "y": 1, + "action": "RIGHT", "reward": 0.25, "battery": 0.9187, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 14, - "x": 5, - "y": 6, - "action": "DOWN", + "x": 10, + "y": 0, + "action": "UP", "reward": 0.25, "battery": 0.9125, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 15, - "x": 5, - "y": 7, - "action": "DOWN", - "reward": 0.25, + "x": 11, + "y": 0, + "action": "RIGHT", + "reward": 1.1, "battery": 0.9062, - "message": "On road \ud83d\udee3\ufe0f" + "message": "\u2705 Delivery 2/5 done!" }, { "step": 16, - "x": 4, - "y": 7, - "action": "LEFT", + "x": 11, + "y": 1, + "action": "DOWN", "reward": 0.25, "battery": 0.9, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 17, - "x": 4, - "y": 8, + "x": 11, + "y": 2, "action": "DOWN", "reward": 0.25, "battery": 0.8938, @@ -8990,26 +8847,26 @@ }, { "step": 18, - "x": 3, - "y": 8, - "action": "LEFT", - "reward": 1.1, + "x": 11, + "y": 3, + "action": "DOWN", + "reward": 0.25, "battery": 0.8875, - "message": "\u2705 Delivery 2/5 done!" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 19, - "x": 4, - "y": 8, - "action": "RIGHT", + "x": 11, + "y": 4, + "action": "DOWN", "reward": 0.25, "battery": 0.8812, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 20, - "x": 4, - "y": 9, + "x": 11, + "y": 5, "action": "DOWN", "reward": 0.25, "battery": 0.875, @@ -9017,17 +8874,17 @@ }, { "step": 21, - "x": 5, - "y": 9, - "action": "RIGHT", + "x": 11, + "y": 6, + "action": "DOWN", "reward": 0.25, "battery": 0.8688, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 22, - "x": 5, - "y": 10, + "x": 11, + "y": 7, "action": "DOWN", "reward": 0.25, "battery": 0.8625, @@ -9035,17 +8892,17 @@ }, { "step": 23, - "x": 6, - "y": 10, - "action": "RIGHT", + "x": 11, + "y": 8, + "action": "DOWN", "reward": 0.25, "battery": 0.8562, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 24, - "x": 6, - "y": 11, + "x": 11, + "y": 9, "action": "DOWN", "reward": 0.25, "battery": 0.85, @@ -9053,17 +8910,17 @@ }, { "step": 25, - "x": 7, - "y": 11, - "action": "RIGHT", + "x": 11, + "y": 10, + "action": "DOWN", "reward": 0.25, "battery": 0.8438, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 26, - "x": 7, - "y": 12, + "x": 11, + "y": 11, "action": "DOWN", "reward": 0.25, "battery": 0.8375, @@ -9071,35 +8928,35 @@ }, { "step": 27, - "x": 8, + "x": 11, "y": 12, - "action": "RIGHT", + "action": "DOWN", "reward": 0.25, "battery": 0.8313, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 28, - "x": 8, + "x": 11, "y": 13, "action": "DOWN", - "reward": 0.25, + "reward": 0.55, "battery": 0.825, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Hit obstacle! \ud83d\udea7" }, { "step": 29, - "x": 9, - "y": 13, - "action": "RIGHT", + "x": 11, + "y": 14, + "action": "DOWN", "reward": 0.25, "battery": 0.8187, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Flying over a tree! \ud83c\udf33" }, { "step": 30, - "x": 9, - "y": 14, + "x": 11, + "y": 15, "action": "DOWN", "reward": 0.25, "battery": 0.8125, @@ -9107,27 +8964,27 @@ }, { "step": 31, - "x": 10, - "y": 14, - "action": "RIGHT", + "x": 11, + "y": 16, + "action": "DOWN", "reward": 0.25, "battery": 0.8063, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 32, - "x": 10, - "y": 15, + "x": 11, + "y": 17, "action": "DOWN", - "reward": 0.25, + "reward": 1.1, "battery": 0.8, - "message": "On road \ud83d\udee3\ufe0f" + "message": "\u2705 Delivery 3/5 done!" }, { "step": 33, "x": 11, - "y": 15, - "action": "RIGHT", + "y": 16, + "action": "UP", "reward": 0.25, "battery": 0.7937, "message": "On road \ud83d\udee3\ufe0f" @@ -9135,34 +8992,34 @@ { "step": 34, "x": 11, - "y": 16, - "action": "DOWN", + "y": 15, + "action": "UP", "reward": 0.25, "battery": 0.7875, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 35, - "x": 12, - "y": 16, - "action": "RIGHT", - "reward": 1.1, + "x": 11, + "y": 14, + "action": "UP", + "reward": 0.25, "battery": 0.7812, - "message": "\u2705 Delivery 3/5 done!" + "message": "Flying over a tree! \ud83c\udf33" }, { "step": 36, - "x": 12, - "y": 15, - "action": "UP", + "x": 10, + "y": 14, + "action": "LEFT", "reward": 0.25, "battery": 0.775, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 37, - "x": 12, - "y": 14, + "x": 10, + "y": 13, "action": "UP", "reward": 0.25, "battery": 0.7688, @@ -9170,8 +9027,8 @@ }, { "step": 38, - "x": 11, - "y": 14, + "x": 9, + "y": 13, "action": "LEFT", "reward": 0.25, "battery": 0.7625, @@ -9179,8 +9036,8 @@ }, { "step": 39, - "x": 11, - "y": 13, + "x": 9, + "y": 12, "action": "UP", "reward": 0.25, "battery": 0.7562, @@ -9188,502 +9045,465 @@ }, { "step": 40, - "x": 10, - "y": 13, + "x": 8, + "y": 12, "action": "LEFT", - "reward": 0.25, + "reward": 1.1, "battery": 0.75, - "message": "On road \ud83d\udee3\ufe0f" + "message": "\u2705 Delivery 4/5 done!" }, { "step": 41, - "x": 10, + "x": 9, "y": 12, - "action": "UP", + "action": "RIGHT", "reward": 0.25, "battery": 0.7438, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 42, - "x": 9, + "x": 10, "y": 12, - "action": "LEFT", + "action": "RIGHT", "reward": 0.25, "battery": 0.7375, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 43, - "x": 9, - "y": 11, - "action": "UP", + "x": 11, + "y": 12, + "action": "RIGHT", "reward": 0.25, "battery": 0.7312, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 44, - "x": 8, - "y": 11, - "action": "LEFT", - "reward": 0.25, + "x": 11, + "y": 13, + "action": "DOWN", + "reward": 0.55, "battery": 0.725, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Hit obstacle! \ud83d\udea7" }, { "step": 45, - "x": 8, - "y": 10, - "action": "UP", + "x": 12, + "y": 13, + "action": "RIGHT", "reward": 0.25, "battery": 0.7188, - "message": "Flying above a building! \ud83c\udfe2" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 46, - "x": 7, - "y": 10, - "action": "LEFT", - "reward": 0.55, + "x": 12, + "y": 14, + "action": "DOWN", + "reward": 0.25, "battery": 0.7125, - "message": "Hit obstacle! \ud83d\udea7" + "message": "Flying above a building! \ud83c\udfe2" }, { "step": 47, - "x": 7, - "y": 9, - "action": "UP", + "x": 13, + "y": 14, + "action": "RIGHT", "reward": 0.25, "battery": 0.7063, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 48, - "x": 6, - "y": 9, - "action": "LEFT", + "x": 13, + "y": 15, + "action": "DOWN", "reward": 0.25, "battery": 0.7, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 49, - "x": 6, - "y": 8, - "action": "UP", + "x": 14, + "y": 15, + "action": "RIGHT", "reward": 0.25, "battery": 0.6937, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 50, - "x": 5, - "y": 8, - "action": "LEFT", - "reward": 1.1, + "x": 14, + "y": 16, + "action": "DOWN", + "reward": 0.25, "battery": 0.6875, - "message": "\u2705 Delivery 4/5 done!" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 51, - "x": 6, - "y": 8, + "x": 15, + "y": 16, "action": "RIGHT", - "reward": 0.25, + "reward": 1.1, "battery": 0.6813, - "message": "On road \ud83d\udee3\ufe0f" - }, + "message": "\u2705 Delivery 5/5 done!" + } + ], + "grid_meta": { + "width": 18, + "height": 18 + }, + "delivery_positions": [ + [ + 8, + 11 + ], + [ + 11, + 0 + ], + [ + 11, + 17 + ], + [ + 8, + 12 + ], + [ + 15, + 16 + ] + ], + "deliveries_done": 5, + "total_reward": 17.6, + "total_steps": 51 + }, + { + "task": "drone_env.core.graders:grade_medium", + "steps": [ { - "step": 52, - "x": 7, - "y": 8, - "action": "RIGHT", - "reward": 0.25, - "battery": 0.675, + "step": 1, + "x": 5, + "y": 11, + "action": "UP", + "reward": 0.15, + "battery": 0.99, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 53, - "x": 8, - "y": 8, - "action": "RIGHT", - "reward": 0.25, - "battery": 0.6687, + "step": 2, + "x": 5, + "y": 10, + "action": "UP", + "reward": 0.15, + "battery": 0.98, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 54, - "x": 9, - "y": 8, - "action": "RIGHT", - "reward": 0.25, - "battery": 0.6625, + "step": 3, + "x": 5, + "y": 9, + "action": "UP", + "reward": 0.15, + "battery": 0.97, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 55, - "x": 10, + "step": 4, + "x": 5, "y": 8, - "action": "RIGHT", - "reward": 0.25, - "battery": 0.6562, + "action": "UP", + "reward": 0.15, + "battery": 0.96, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 56, - "x": 11, - "y": 8, - "action": "RIGHT", - "reward": 0.55, - "battery": 0.65, - "message": "Hit obstacle! \ud83d\udea7" + "step": 5, + "x": 5, + "y": 7, + "action": "UP", + "reward": 0.15, + "battery": 0.95, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 57, - "x": 12, - "y": 8, - "action": "RIGHT", - "reward": 0.25, - "battery": 0.6438, + "step": 6, + "x": 5, + "y": 6, + "action": "UP", + "reward": 0.15, + "battery": 0.94, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 58, - "x": 13, - "y": 8, + "step": 7, + "x": 6, + "y": 6, "action": "RIGHT", - "reward": 0.25, - "battery": 0.6375, + "reward": 0.15, + "battery": 0.93, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 59, - "x": 14, - "y": 8, - "action": "RIGHT", - "reward": 0.25, - "battery": 0.6312, + "step": 8, + "x": 6, + "y": 5, + "action": "UP", + "reward": 0.15, + "battery": 0.92, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 60, - "x": 15, - "y": 8, + "step": 9, + "x": 7, + "y": 5, "action": "RIGHT", - "reward": 0.25, - "battery": 0.625, + "reward": 0.15, + "battery": 0.91, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 61, - "x": 15, - "y": 7, + "step": 10, + "x": 7, + "y": 4, "action": "UP", - "reward": 0.55, - "battery": 0.6188, - "message": "Hit obstacle! \ud83d\udea7" + "reward": 0.15, + "battery": 0.9, + "message": "Flying over a tree! \ud83c\udf33" }, { - "step": 62, - "x": 16, - "y": 7, + "step": 11, + "x": 8, + "y": 4, "action": "RIGHT", - "reward": 0.25, - "battery": 0.6125, + "reward": 0.15, + "battery": 0.89, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 63, - "x": 16, - "y": 6, + "step": 12, + "x": 8, + "y": 3, "action": "UP", - "reward": 0.25, - "battery": 0.6062, + "reward": 0.15, + "battery": 0.88, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 64, - "x": 17, - "y": 6, + "step": 13, + "x": 9, + "y": 3, "action": "RIGHT", - "reward": 1.1, - "battery": 0.6, - "message": "\u2705 Delivery 5/5 done!" - } - ], - "grid_meta": { - "width": 18, - "height": 18 - }, - "delivery_positions": [ - [ - 5, - 4 - ], - [ - 3, - 8 - ], - [ - 12, - 16 - ], - [ - 5, - 8 - ], - [ - 17, - 6 - ] - ], - "deliveries_done": 5, - "total_reward": 21.45, - "total_steps": 64 - }, - { - "task": "drone_env.core.graders:grade_easy", - "steps": [ + "reward": 0.15, + "battery": 0.87, + "message": "On road \ud83d\udee3\ufe0f" + }, { - "step": 1, - "x": 8, - "y": 5, + "step": 14, + "x": 9, + "y": 2, "action": "UP", - "reward": 0.1, - "battery": 0.9833, + "reward": 0.15, + "battery": 0.86, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 2, - "x": 8, - "y": 4, + "step": 15, + "x": 10, + "y": 2, + "action": "RIGHT", + "reward": 0.15, + "battery": 0.85, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 16, + "x": 10, + "y": 1, + "action": "UP", + "reward": 0.15, + "battery": 0.84, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 17, + "x": 11, + "y": 1, + "action": "RIGHT", + "reward": 0.15, + "battery": 0.83, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 18, + "x": 11, + "y": 0, "action": "UP", + "reward": 0.15, + "battery": 0.82, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 19, + "x": 12, + "y": 0, + "action": "RIGHT", "reward": 1.05, - "battery": 0.9667, - "message": "\u2705 Delivery 1/1 done!" - } - ], - "grid_meta": { - "width": 10, - "height": 10 - }, - "delivery_positions": [ - [ - 8, - 4 - ] - ], - "deliveries_done": 1, - "total_reward": 1.15, - "total_steps": 2 - }, - { - "task": "drone_env.core.graders:grade_easy", - "steps": [ + "battery": 0.81, + "message": "\u2705 Delivery 1/3 done!" + }, { - "step": 1, + "step": 20, + "x": 11, + "y": 0, + "action": "LEFT", + "reward": 0.15, + "battery": 0.8, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 21, + "x": 10, + "y": 0, + "action": "LEFT", + "reward": 0.15, + "battery": 0.79, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 22, "x": 9, - "y": 2, - "action": "DOWN", - "reward": 0.1, - "battery": 0.9833, + "y": 0, + "action": "LEFT", + "reward": 0.15, + "battery": 0.78, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 2, + "step": 23, "x": 8, - "y": 2, + "y": 0, "action": "LEFT", - "reward": 0.1, - "battery": 0.9667, + "reward": 0.15, + "battery": 0.77, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 3, + "step": 24, "x": 8, - "y": 3, + "y": 1, "action": "DOWN", - "reward": 0.1, - "battery": 0.95, - "message": "Flying over a tree! \ud83c\udf33" + "reward": 0.15, + "battery": 0.76, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 4, + "step": 25, "x": 7, - "y": 3, + "y": 1, "action": "LEFT", - "reward": 1.05, - "battery": 0.9333, - "message": "\u2705 Delivery 1/1 done!" + "reward": 0.15, + "battery": 0.75, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 26, + "x": 7, + "y": 2, + "action": "DOWN", + "reward": 0.15, + "battery": 0.74, + "message": "On road \ud83d\udee3\ufe0f" } ], "grid_meta": { - "width": 10, - "height": 10 + "width": 14, + "height": 14 }, "delivery_positions": [ [ - 7, - 3 + 12, + 0 + ], + [ + 2, + 6 + ], + [ + 12, + 2 ] ], "deliveries_done": 1, - "total_reward": 1.35, - "total_steps": 4 + "total_reward": 4.8, + "total_steps": 26 }, { "task": "drone_env.core.graders:grade_easy", "steps": [ { "step": 1, - "x": 0, - "y": 8, - "action": "UP", + "x": 7, + "y": 2, + "action": "LEFT", "reward": 0.1, "battery": 0.9833, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 2, - "x": 0, - "y": 7, - "action": "UP", + "x": 6, + "y": 2, + "action": "LEFT", "reward": 0.1, "battery": 0.9667, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 3, - "x": 0, - "y": 6, - "action": "UP", + "x": 5, + "y": 2, + "action": "LEFT", "reward": 0.1, "battery": 0.95, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 4, - "x": 0, - "y": 5, - "action": "UP", + "x": 4, + "y": 2, + "action": "LEFT", "reward": 0.1, "battery": 0.9333, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 5, - "x": 0, - "y": 4, - "action": "UP", + "x": 3, + "y": 2, + "action": "LEFT", "reward": 0.1, "battery": 0.9167, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 6, - "x": 0, - "y": 3, - "action": "UP", - "reward": 0.1, - "battery": 0.9, - "message": "On road \ud83d\udee3\ufe0f" - }, - { - "step": 7, - "x": 0, - "y": 2, - "action": "UP", - "reward": 0.1, - "battery": 0.8833, - "message": "On road \ud83d\udee3\ufe0f" - }, - { - "step": 8, - "x": 1, - "y": 2, - "action": "RIGHT", - "reward": 1.05, - "battery": 0.8667, - "message": "\u2705 Delivery 1/1 done!" - } - ], - "grid_meta": { - "width": 10, - "height": 10 - }, - "delivery_positions": [ - [ - 1, - 2 - ] - ], - "deliveries_done": 1, - "total_reward": 1.75, - "total_steps": 8 - }, - { - "task": "drone_env.core.graders:grade_easy", - "steps": [ - { - "step": 1, - "x": 9, - "y": 9, - "action": "DOWN", - "reward": 0.2, - "battery": 0.9833, - "message": "Hit DOWN boundary! \ud83d\udeab" - }, - { - "step": 2, - "x": 9, - "y": 8, + "x": 3, + "y": 1, "action": "UP", "reward": 0.1, - "battery": 0.9667, - "message": "On road \ud83d\udee3\ufe0f" - }, - { - "step": 3, - "x": 8, - "y": 8, - "action": "LEFT", - "reward": 0.1, - "battery": 0.95, - "message": "On road \ud83d\udee3\ufe0f" - }, - { - "step": 4, - "x": 7, - "y": 8, - "action": "LEFT", - "reward": 0.1, - "battery": 0.9333, - "message": "On road \ud83d\udee3\ufe0f" - }, - { - "step": 5, - "x": 6, - "y": 8, - "action": "LEFT", - "reward": 0.1, - "battery": 0.9167, - "message": "On road \ud83d\udee3\ufe0f" - }, - { - "step": 6, - "x": 5, - "y": 8, - "action": "LEFT", - "reward": 0.1, "battery": 0.9, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 7, - "x": 4, - "y": 8, - "action": "LEFT", + "x": 3, + "y": 0, + "action": "UP", "reward": 0.1, "battery": 0.8833, "message": "On road \ud83d\udee3\ufe0f" @@ -9691,25 +9511,25 @@ { "step": 8, "x": 3, - "y": 8, - "action": "LEFT", - "reward": 0.1, + "y": 0, + "action": "UP", + "reward": 0.2, "battery": 0.8667, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Hit UP boundary! \ud83d\udeab" }, { "step": 9, - "x": 2, - "y": 8, - "action": "LEFT", + "x": 4, + "y": 0, + "action": "RIGHT", "reward": 0.1, "battery": 0.85, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 10, - "x": 1, - "y": 8, + "x": 3, + "y": 0, "action": "LEFT", "reward": 0.1, "battery": 0.8333, @@ -9717,80 +9537,80 @@ }, { "step": 11, - "x": 1, - "y": 9, - "action": "DOWN", - "reward": 0.1, + "x": 3, + "y": 0, + "action": "UP", + "reward": 0.2, "battery": 0.8167, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Hit UP boundary! \ud83d\udeab" }, { "step": 12, - "x": 1, - "y": 9, - "action": "DOWN", - "reward": 0.2, + "x": 4, + "y": 0, + "action": "RIGHT", + "reward": 0.1, "battery": 0.8, - "message": "Hit DOWN boundary! \ud83d\udeab" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 13, - "x": 1, - "y": 8, - "action": "UP", + "x": 3, + "y": 0, + "action": "LEFT", "reward": 0.1, "battery": 0.7833, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 14, - "x": 1, - "y": 9, - "action": "DOWN", - "reward": 0.1, + "x": 3, + "y": 0, + "action": "UP", + "reward": 0.2, "battery": 0.7667, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Hit UP boundary! \ud83d\udeab" }, { "step": 15, - "x": 1, - "y": 9, - "action": "DOWN", - "reward": 0.2, + "x": 4, + "y": 0, + "action": "RIGHT", + "reward": 0.1, "battery": 0.75, - "message": "Hit DOWN boundary! \ud83d\udeab" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 16, - "x": 1, - "y": 8, - "action": "UP", + "x": 3, + "y": 0, + "action": "LEFT", "reward": 0.1, "battery": 0.7333, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 17, - "x": 1, - "y": 9, - "action": "DOWN", - "reward": 0.1, + "x": 3, + "y": 0, + "action": "UP", + "reward": 0.2, "battery": 0.7167, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Hit UP boundary! \ud83d\udeab" }, { "step": 18, - "x": 1, - "y": 9, - "action": "DOWN", - "reward": 0.2, + "x": 4, + "y": 0, + "action": "RIGHT", + "reward": 0.1, "battery": 0.7, - "message": "Hit DOWN boundary! \ud83d\udeab" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 19, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.6833, @@ -9798,8 +9618,8 @@ }, { "step": 20, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.6667, @@ -9807,8 +9627,8 @@ }, { "step": 21, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.65, @@ -9816,8 +9636,8 @@ }, { "step": 22, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.6333, @@ -9825,8 +9645,8 @@ }, { "step": 23, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.6167, @@ -9834,8 +9654,8 @@ }, { "step": 24, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.6, @@ -9843,8 +9663,8 @@ }, { "step": 25, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.5833, @@ -9852,8 +9672,8 @@ }, { "step": 26, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.5667, @@ -9861,8 +9681,8 @@ }, { "step": 27, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.55, @@ -9870,8 +9690,8 @@ }, { "step": 28, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.5333, @@ -9879,8 +9699,8 @@ }, { "step": 29, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.5167, @@ -9888,8 +9708,8 @@ }, { "step": 30, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.5, @@ -9897,8 +9717,8 @@ }, { "step": 31, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.4833, @@ -9906,8 +9726,8 @@ }, { "step": 32, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.4667, @@ -9915,8 +9735,8 @@ }, { "step": 33, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.45, @@ -9924,8 +9744,8 @@ }, { "step": 34, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.4333, @@ -9933,8 +9753,8 @@ }, { "step": 35, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.4167, @@ -9942,8 +9762,8 @@ }, { "step": 36, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.4, @@ -9951,8 +9771,8 @@ }, { "step": 37, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.3833, @@ -9960,8 +9780,8 @@ }, { "step": 38, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.3667, @@ -9969,8 +9789,8 @@ }, { "step": 39, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.35, @@ -9978,8 +9798,8 @@ }, { "step": 40, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.3333, @@ -9987,8 +9807,8 @@ }, { "step": 41, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.3167, @@ -9996,8 +9816,8 @@ }, { "step": 42, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.3, @@ -10005,8 +9825,8 @@ }, { "step": 43, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.2833, @@ -10014,8 +9834,8 @@ }, { "step": 44, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.2667, @@ -10023,8 +9843,8 @@ }, { "step": 45, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.25, @@ -10032,8 +9852,8 @@ }, { "step": 46, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.2333, @@ -10041,8 +9861,8 @@ }, { "step": 47, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.2167, @@ -10050,8 +9870,8 @@ }, { "step": 48, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.2, @@ -10059,8 +9879,8 @@ }, { "step": 49, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.1833, @@ -10068,8 +9888,8 @@ }, { "step": 50, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.1667, @@ -10077,8 +9897,8 @@ }, { "step": 51, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.15, @@ -10086,8 +9906,8 @@ }, { "step": 52, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.1333, @@ -10095,8 +9915,8 @@ }, { "step": 53, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.1167, @@ -10104,8 +9924,8 @@ }, { "step": 54, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.1, @@ -10113,8 +9933,8 @@ }, { "step": 55, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.0833, @@ -10122,8 +9942,8 @@ }, { "step": 56, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.0667, @@ -10131,8 +9951,8 @@ }, { "step": 57, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.05, @@ -10140,8 +9960,8 @@ }, { "step": 58, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.0333, @@ -10149,8 +9969,8 @@ }, { "step": 59, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.0167, @@ -10158,8 +9978,8 @@ }, { "step": 60, - "x": 1, - "y": 9, + "x": 4, + "y": 0, "action": "WAIT", "reward": 0.1, "battery": 0.0, @@ -10172,7 +9992,7 @@ }, "delivery_positions": [ [ - 1, + 3, 3 ] ], @@ -10185,606 +10005,804 @@ "steps": [ { 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42, + "x": 1, + "y": 8, "action": "LEFT", "reward": 0.1, - "battery": 0.9833, + "battery": 0.3, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 2, - "x": 5, - "y": 2, - "action": "LEFT", + "step": 43, + "x": 2, + "y": 8, + "action": "RIGHT", "reward": 0.1, - "battery": 0.9667, + "battery": 0.2833, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 3, - "x": 4, - "y": 2, + "step": 44, + "x": 1, + "y": 8, "action": "LEFT", "reward": 0.1, - "battery": 0.95, + "battery": 0.2667, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 4, - "x": 3, - "y": 2, - "action": "LEFT", - "reward": 0.25, - "battery": 0.9333, - "message": "Hit obstacle! \ud83d\udea7" + "step": 45, + "x": 1, + "y": 8, + "action": "WAIT", + "reward": 0.1, + "battery": 0.25, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { - "step": 5, - "x": 2, - "y": 2, - "action": "LEFT", - "reward": 1.05, - "battery": 0.9167, - "message": "\u2705 Delivery 1/1 done!" + "step": 46, + "x": 1, + "y": 8, + "action": "WAIT", + "reward": 0.1, + "battery": 0.2333, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" + }, + { + "step": 47, + "x": 1, + "y": 8, + "action": "WAIT", + "reward": 0.1, + "battery": 0.2167, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" + }, + { + "step": 48, + "x": 1, + "y": 8, + "action": "WAIT", + "reward": 0.1, + "battery": 0.2, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" + }, + { + "step": 49, + "x": 1, + "y": 8, + "action": "WAIT", + "reward": 0.1, + "battery": 0.1833, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" + }, + { + "step": 50, + "x": 1, + "y": 8, + "action": "WAIT", + "reward": 0.1, + "battery": 0.1667, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" + }, + { + "step": 51, + "x": 1, + "y": 8, + "action": "WAIT", + "reward": 0.1, + "battery": 0.15, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" + }, + { + "step": 52, + "x": 1, + "y": 8, + "action": "WAIT", + "reward": 0.1, + "battery": 0.1333, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" + }, + { + "step": 53, + "x": 1, + "y": 8, + "action": "WAIT", + "reward": 0.1, + "battery": 0.1167, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" + }, + { + "step": 54, + "x": 1, + "y": 8, + "action": "WAIT", + "reward": 0.1, + "battery": 0.1, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" + }, + { + "step": 55, + "x": 1, + "y": 8, + "action": "WAIT", + "reward": 0.1, + "battery": 0.0833, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" + }, + { + "step": 56, + "x": 1, + "y": 8, + "action": "WAIT", + "reward": 0.1, + "battery": 0.0667, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" + }, + { + "step": 57, + "x": 1, + "y": 8, + "action": "WAIT", + "reward": 0.1, + "battery": 0.05, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" + }, + { + "step": 58, + "x": 1, + "y": 8, + "action": "WAIT", + "reward": 0.1, + "battery": 0.0333, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" + }, + { + "step": 59, + "x": 1, + "y": 8, + "action": "WAIT", + "reward": 0.1, + "battery": 0.0167, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" + }, + { + "step": 60, + "x": 1, + "y": 8, + "action": "WAIT", + "reward": 0.1, + "battery": 0.0, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" } ], "grid_meta": { @@ -10793,918 +10811,741 @@ }, "delivery_positions": [ [ - 2, - 2 + 4, + 5 ] ], - "deliveries_done": 1, - "total_reward": 1.6, - "total_steps": 5 + "deliveries_done": 0, + "total_reward": 6.1, + "total_steps": 60 }, { "task": "drone_env.core.graders:grade_easy", "steps": [ { "step": 1, - "x": 4, - "y": 1, - "action": "DOWN", + "x": 8, + "y": 8, + "action": "LEFT", "reward": 0.1, "battery": 0.9833, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 2, - "x": 4, - "y": 2, - "action": "DOWN", + "x": 7, + "y": 8, + "action": "LEFT", "reward": 0.1, "battery": 0.9667, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Flying over a tree! \ud83c\udf33" }, { "step": 3, - "x": 4, - "y": 3, - "action": "DOWN", + 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"DOWN", + "reward": 0.1, "battery": 0.8667, - "message": "\u2705 Delivery 1/1 done!" - } - ], - "grid_meta": { - "width": 10, - "height": 10 - }, - "delivery_positions": [ - [ - 3, - 7 - ] - ], - "deliveries_done": 1, - "total_reward": 1.9, - "total_steps": 8 - }, - { - "task": "drone_env.core.graders:grade_medium", - "steps": [ - { - "step": 1, - "x": 5, - "y": 5, - "action": "LEFT", - "reward": 0.15, - "battery": 0.99, - "message": "On road \ud83d\udee3\ufe0f" - }, - { - "step": 2, - "x": 4, - "y": 5, - "action": "LEFT", - "reward": 0.15, - "battery": 0.98, - "message": "Flying above a building! \ud83c\udfe2" - }, - { - "step": 3, - "x": 3, - "y": 5, - "action": "LEFT", - "reward": 0.15, - "battery": 0.97, - "message": "On road \ud83d\udee3\ufe0f" - }, - { - "step": 4, - "x": 3, - "y": 4, - "action": "UP", - "reward": 0.15, - "battery": 0.96, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 5, + "step": 9, "x": 2, - "y": 4, - "action": "LEFT", - "reward": 0.15, - "battery": 0.95, - "message": "On road \ud83d\udee3\ufe0f" + "y": 9, + "action": "DOWN", + "reward": 0.2, + "battery": 0.85, + "message": "Hit DOWN boundary! \ud83d\udeab" }, { - "step": 6, + "step": 10, "x": 2, - "y": 3, - "action": "UP", - "reward": 0.15, - "battery": 0.94, - "message": "On road \ud83d\udee3\ufe0f" - }, - { - "step": 7, - "x": 1, - "y": 3, - "action": "LEFT", - "reward": 0.15, - "battery": 0.93, - "message": "On road \ud83d\udee3\ufe0f" - }, - { - "step": 8, - "x": 1, - "y": 2, + "y": 8, "action": "UP", - "reward": 0.15, - "battery": 0.92, - "message": "On road \ud83d\udee3\ufe0f" - }, - { - "step": 9, - "x": 0, - "y": 2, - "action": "LEFT", - "reward": 1.05, - "battery": 0.91, - "message": "\u2705 Delivery 1/3 done!" - }, - { - "step": 10, - "x": 1, - "y": 2, - "action": "RIGHT", - "reward": 0.15, - "battery": 0.9, + "reward": 0.1, + "battery": 0.8333, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 11, "x": 2, - "y": 2, - "action": "RIGHT", - "reward": 0.15, - "battery": 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"reward": 0.15, "battery": 0.76, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 25, - "x": 7, - "y": 1, - "action": "LEFT", - "reward": 0.15, + "x": 3, + "y": 0, + "action": "RIGHT", + "reward": 0.35, "battery": 0.75, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Hit obstacle! \ud83d\udea7" }, { "step": 26, - "x": 7, - "y": 2, - "action": "DOWN", + "x": 4, + "y": 0, + "action": "RIGHT", "reward": 0.15, "battery": 0.74, "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 27, + "x": 5, + "y": 0, + "action": "RIGHT", + "reward": 0.15, + "battery": 0.73, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 28, + "x": 6, + "y": 0, + "action": "RIGHT", + "reward": 0.15, + "battery": 0.72, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 29, + "x": 7, + "y": 0, + "action": "RIGHT", + "reward": 0.15, + "battery": 0.71, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 30, + "x": 8, + "y": 0, + "action": "RIGHT", + "reward": 0.15, + "battery": 0.7, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 31, + "x": 9, + "y": 0, + "action": "RIGHT", + "reward": 0.15, + "battery": 0.69, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 32, + "x": 10, + "y": 0, + "action": "RIGHT", + "reward": 0.15, + "battery": 0.68, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 33, + "x": 11, + "y": 0, + "action": "RIGHT", + "reward": 0.15, + "battery": 0.67, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 34, + "x": 11, + "y": 1, + "action": "DOWN", + "reward": 0.15, + "battery": 0.66, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 35, + "x": 12, + "y": 1, + "action": "RIGHT", + "reward": 0.15, + "battery": 0.65, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 36, + "x": 12, + "y": 2, + "action": "DOWN", + "reward": 0.15, + "battery": 0.64, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 37, + "x": 13, + "y": 2, + "action": "RIGHT", + "reward": 1.05, + "battery": 0.63, + "message": "\u2705 Delivery 3/3 done!" } ], "grid_meta": { @@ -11906,825 +11846,931 @@ }, "delivery_positions": [ [ - 12, + 0, 0 ], [ - 2, - 6 + 7, + 7 ], [ - 12, + 13, 2 ] ], - "deliveries_done": 1, - "total_reward": 4.8, - "total_steps": 26 + "deliveries_done": 3, + "total_reward": 8.45, + "total_steps": 37 }, { - "task": "drone_env.core.graders:grade_easy", + "task": "drone_env.core.graders:grade_hard", "steps": [ { "step": 1, - "x": 7, - "y": 2, - "action": "LEFT", - "reward": 0.1, - "battery": 0.9833, + "x": 11, + "y": 14, + "action": "UP", + "reward": 0.25, + "battery": 0.9938, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 2, - "x": 6, - "y": 2, - "action": "LEFT", - "reward": 0.1, - "battery": 0.9667, + "x": 11, + "y": 13, + "action": "UP", + "reward": 0.25, + "battery": 0.9875, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 3, - "x": 5, - "y": 2, - "action": "LEFT", - "reward": 0.1, - "battery": 0.95, - "message": "On road 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"y": 0, - "action": "UP", - "reward": 0.2, - "battery": 0.8667, - "message": "Hit UP boundary! \ud83d\udeab" + "x": 9, + "y": 9, + "action": "LEFT", + "reward": 0.25, + "battery": 0.95, + "message": "Flying over a tree! \ud83c\udf33" }, { "step": 9, - "x": 4, - "y": 0, - "action": "RIGHT", - "reward": 0.1, - "battery": 0.85, + "x": 9, + "y": 8, + "action": "UP", + "reward": 0.25, + "battery": 0.9437, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 10, - "x": 3, - "y": 0, + "x": 8, + "y": 8, "action": "LEFT", - "reward": 0.1, - "battery": 0.8333, + "reward": 0.25, + "battery": 0.9375, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 11, - "x": 3, - "y": 0, + "x": 8, + "y": 7, "action": "UP", - "reward": 0.2, - "battery": 0.8167, - "message": "Hit UP boundary! \ud83d\udeab" + "reward": 0.25, + "battery": 0.9313, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 12, - "x": 4, - "y": 0, - "action": "RIGHT", - "reward": 0.1, - "battery": 0.8, + "x": 7, + "y": 7, + "action": 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"On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 14, - "x": 2, - "y": 9, - "action": "LEFT", + "x": 7, + "y": 8, + "action": "WAIT", "reward": 0.1, "battery": 0.7667, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 15, - "x": 3, - "y": 9, - "action": "RIGHT", + "x": 7, + "y": 8, + "action": "WAIT", "reward": 0.1, "battery": 0.75, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 16, - "x": 2, - "y": 9, - "action": "LEFT", + "x": 7, + "y": 8, + "action": "WAIT", "reward": 0.1, "battery": 0.7333, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 17, - "x": 3, - "y": 9, - "action": "RIGHT", + "x": 7, + "y": 8, + "action": "WAIT", "reward": 0.1, "battery": 0.7167, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 18, - "x": 2, - "y": 9, - "action": "LEFT", + "x": 7, + "y": 8, + "action": "WAIT", "reward": 0.1, "battery": 0.7, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 19, - "x": 2, - "y": 9, + "x": 7, + "y": 8, "action": "WAIT", "reward": 0.1, "battery": 0.6833, @@ -12917,8 +12963,8 @@ }, { "step": 20, - "x": 2, - "y": 9, + "x": 7, + "y": 8, "action": "WAIT", "reward": 0.1, "battery": 0.6667, @@ -12926,8 +12972,8 @@ }, { "step": 21, - "x": 2, - "y": 9, + "x": 7, + "y": 8, "action": "WAIT", "reward": 0.1, "battery": 0.65, @@ -12935,8 +12981,8 @@ }, { "step": 22, - "x": 2, - "y": 9, + "x": 7, + "y": 8, "action": "WAIT", "reward": 0.1, "battery": 0.6333, @@ -12944,8 +12990,8 @@ }, { "step": 23, - "x": 2, - "y": 9, + "x": 7, + "y": 8, "action": "WAIT", "reward": 0.1, "battery": 0.6167, @@ -12953,8 +12999,8 @@ }, { "step": 24, - "x": 2, - "y": 9, + "x": 7, + "y": 8, "action": "WAIT", "reward": 0.1, "battery": 0.6, @@ -12962,8 +13008,8 @@ }, { "step": 25, - "x": 2, - "y": 9, + "x": 7, + "y": 8, "action": "WAIT", "reward": 0.1, "battery": 0.5833, @@ -12971,8 +13017,8 @@ }, { "step": 26, - "x": 2, - "y": 9, + "x": 7, + "y": 8, "action": "WAIT", "reward": 0.1, "battery": 0.5667, @@ -12980,8 +13026,8 @@ }, { "step": 27, - "x": 2, - "y": 9, + "x": 7, + "y": 8, "action": "WAIT", "reward": 0.1, "battery": 0.55, @@ -12989,8 +13035,8 @@ }, { "step": 28, - "x": 2, - "y": 9, + "x": 7, + "y": 8, "action": "WAIT", "reward": 0.1, "battery": 0.5333, @@ -12998,8 +13044,8 @@ }, { "step": 29, - "x": 2, - "y": 9, + "x": 7, + "y": 8, "action": "WAIT", "reward": 0.1, "battery": 0.5167, @@ -13007,8 +13053,8 @@ }, { "step": 30, - "x": 2, - "y": 9, + "x": 7, + "y": 8, "action": "WAIT", "reward": 0.1, "battery": 0.5, @@ -13016,133 +13062,133 @@ }, { "step": 31, - "x": 2, + "x": 7, "y": 8, - "action": "UP", + "action": "WAIT", "reward": 0.1, "battery": 0.4833, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 32, - "x": 1, + "x": 7, "y": 8, - "action": "LEFT", + "action": "WAIT", "reward": 0.1, "battery": 0.4667, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 33, - "x": 2, + "x": 7, "y": 8, - "action": "RIGHT", + "action": "WAIT", "reward": 0.1, "battery": 0.45, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 34, - "x": 1, + "x": 7, "y": 8, - "action": "LEFT", + "action": "WAIT", "reward": 0.1, "battery": 0.4333, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 35, - "x": 2, + "x": 7, "y": 8, - "action": "RIGHT", + "action": "WAIT", "reward": 0.1, "battery": 0.4167, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 36, - "x": 3, + "x": 7, "y": 8, - "action": "RIGHT", + "action": "WAIT", "reward": 0.1, "battery": 0.4, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 37, - "x": 2, + "x": 7, "y": 8, - "action": "LEFT", + "action": "WAIT", "reward": 0.1, "battery": 0.3833, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 38, - "x": 1, + "x": 7, "y": 8, - "action": "LEFT", + "action": "WAIT", "reward": 0.1, "battery": 0.3667, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 39, - "x": 2, + "x": 7, "y": 8, - "action": "RIGHT", + "action": "WAIT", "reward": 0.1, "battery": 0.35, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 40, - "x": 1, + "x": 7, "y": 8, - "action": "LEFT", + "action": "WAIT", "reward": 0.1, "battery": 0.3333, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 41, - "x": 2, + "x": 7, "y": 8, - "action": "RIGHT", + "action": "WAIT", "reward": 0.1, "battery": 0.3167, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 42, - "x": 1, + "x": 7, "y": 8, - "action": "LEFT", + "action": "WAIT", "reward": 0.1, "battery": 0.3, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 43, - "x": 2, + "x": 7, "y": 8, - "action": "RIGHT", + "action": "WAIT", "reward": 0.1, "battery": 0.2833, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 44, - "x": 1, + "x": 7, "y": 8, - "action": "LEFT", + "action": "WAIT", "reward": 0.1, "battery": 0.2667, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 45, - "x": 1, + "x": 7, "y": 8, "action": "WAIT", "reward": 0.1, @@ -13151,7 +13197,7 @@ }, { "step": 46, - "x": 1, + "x": 7, "y": 8, "action": "WAIT", "reward": 0.1, @@ -13160,7 +13206,7 @@ }, { "step": 47, - "x": 1, + "x": 7, "y": 8, "action": "WAIT", "reward": 0.1, @@ -13169,7 +13215,7 @@ }, { "step": 48, - "x": 1, + "x": 7, "y": 8, "action": "WAIT", "reward": 0.1, @@ -13178,7 +13224,7 @@ }, { "step": 49, - "x": 1, + "x": 7, "y": 8, "action": "WAIT", "reward": 0.1, @@ -13187,7 +13233,7 @@ }, { "step": 50, - "x": 1, + "x": 7, "y": 8, "action": "WAIT", "reward": 0.1, @@ -13196,7 +13242,7 @@ }, { "step": 51, - "x": 1, + "x": 7, "y": 8, "action": "WAIT", "reward": 0.1, @@ -13205,7 +13251,7 @@ }, { "step": 52, - "x": 1, + "x": 7, "y": 8, "action": "WAIT", "reward": 0.1, @@ -13214,7 +13260,7 @@ }, { "step": 53, - "x": 1, + "x": 7, "y": 8, "action": "WAIT", "reward": 0.1, @@ -13223,7 +13269,7 @@ }, { "step": 54, - "x": 1, + "x": 7, "y": 8, "action": "WAIT", "reward": 0.1, @@ -13232,7 +13278,7 @@ }, { "step": 55, - "x": 1, + "x": 7, "y": 8, "action": "WAIT", "reward": 0.1, @@ -13241,7 +13287,7 @@ }, { "step": 56, - "x": 1, + "x": 7, "y": 8, "action": "WAIT", "reward": 0.1, @@ -13250,7 +13296,7 @@ }, { "step": 57, - "x": 1, + "x": 7, "y": 8, "action": "WAIT", "reward": 0.1, @@ -13259,7 +13305,7 @@ }, { "step": 58, - "x": 1, + "x": 7, "y": 8, "action": "WAIT", "reward": 0.1, @@ -13268,21 +13314,21 @@ }, { "step": 59, - "x": 1, - "y": 8, - "action": "WAIT", + "x": 7, + "y": 7, + "action": "UP", "reward": 0.1, "battery": 0.0167, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 60, - "x": 1, - "y": 8, - "action": "WAIT", + "x": 8, + "y": 7, + "action": "RIGHT", "reward": 0.1, "battery": 0.0, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "message": "On road \ud83d\udee3\ufe0f" } ], "grid_meta": { @@ -13291,7 +13337,7 @@ }, "delivery_positions": [ [ - 4, + 8, 5 ] ], @@ -13304,27 +13350,27 @@ "steps": [ { "step": 1, - "x": 8, - "y": 8, - "action": "LEFT", + "x": 2, + "y": 4, + "action": "RIGHT", "reward": 0.1, "battery": 0.9833, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 2, - "x": 7, - "y": 8, - "action": "LEFT", + "x": 3, + "y": 4, + "action": "RIGHT", "reward": 0.1, "battery": 0.9667, - "message": "Flying over a tree! \ud83c\udf33" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 3, - "x": 6, - "y": 8, - "action": "LEFT", + "x": 4, + "y": 4, + "action": "RIGHT", "reward": 0.1, "battery": 0.95, "message": "On road \ud83d\udee3\ufe0f" @@ -13332,515 +13378,460 @@ { "step": 4, "x": 5, - "y": 8, - "action": "LEFT", - "reward": 0.1, + "y": 4, + "action": "RIGHT", + "reward": 0.1, "battery": 0.9333, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 5, - "x": 4, - "y": 8, - "action": "LEFT", + "x": 6, + "y": 4, + "action": "RIGHT", "reward": 0.1, "battery": 0.9167, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 6, - "x": 3, - "y": 8, - "action": "LEFT", + "x": 7, + "y": 4, + "action": "RIGHT", "reward": 0.1, "battery": 0.9, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 7, - "x": 2, - "y": 8, - "action": "LEFT", + "x": 8, + "y": 4, + "action": "RIGHT", "reward": 0.1, "battery": 0.8833, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 8, - "x": 2, - "y": 9, - "action": "DOWN", - "reward": 0.1, + "x": 9, + "y": 4, + "action": "RIGHT", + "reward": 1.05, "battery": 0.8667, + "message": "\u2705 Delivery 1/1 done!" + } + ], + "grid_meta": { + "width": 10, + "height": 10 + }, + "delivery_positions": [ + [ + 9, + 4 + ] + ], + "deliveries_done": 1, + "total_reward": 1.75, + "total_steps": 8 + }, + { + "task": "drone_env.core.graders:grade_medium", + "steps": [ + { + "step": 1, + "x": 3, + "y": 10, + "action": "UP", + "reward": 0.15, + "battery": 0.99, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 9, - "x": 2, + "step": 2, + "x": 3, "y": 9, - "action": "DOWN", - "reward": 0.2, - "battery": 0.85, - "message": "Hit DOWN boundary! \ud83d\udeab" + "action": "UP", + "reward": 0.15, + "battery": 0.98, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 10, - "x": 2, + "step": 3, + "x": 3, "y": 8, "action": "UP", - "reward": 0.1, - "battery": 0.8333, + "reward": 0.15, + "battery": 0.97, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 11, - "x": 2, - "y": 9, - "action": "DOWN", - "reward": 0.1, - "battery": 0.8167, + "step": 4, + "x": 3, + "y": 7, + "action": "UP", + "reward": 0.15, + "battery": 0.96, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 12, + "step": 5, + "x": 3, + "y": 6, + "action": "UP", + "reward": 0.15, + "battery": 0.95, + "message": "Flying over a tree! \ud83c\udf33" + }, + { + "step": 6, "x": 2, - "y": 9, - "action": "DOWN", - "reward": 0.2, - "battery": 0.8, - "message": "Hit DOWN boundary! \ud83d\udeab" + "y": 6, + "action": "LEFT", + "reward": 0.35, + "battery": 0.94, + "message": "Hit obstacle! \ud83d\udea7" }, { - "step": 13, + "step": 7, "x": 2, - "y": 8, + "y": 5, "action": "UP", - "reward": 0.1, - "battery": 0.7833, + "reward": 0.15, + "battery": 0.93, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 14, - "x": 2, - "y": 9, - "action": "DOWN", - "reward": 0.1, - "battery": 0.7667, - "message": "On road \ud83d\udee3\ufe0f" + "step": 8, + "x": 1, + "y": 5, + "action": "LEFT", + "reward": 1.05, + "battery": 0.92, + "message": "\u2705 Delivery 1/3 done!" }, { - "step": 15, + "step": 9, "x": 2, - "y": 9, - "action": "DOWN", - "reward": 0.2, - "battery": 0.75, - "message": "Hit DOWN boundary! \ud83d\udeab" + "y": 5, + "action": "RIGHT", + "reward": 0.15, + "battery": 0.91, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 16, - "x": 2, - "y": 8, - "action": "UP", - "reward": 0.1, - "battery": 0.7333, + "step": 10, + "x": 3, + "y": 5, + "action": "RIGHT", + "reward": 0.15, + "battery": 0.9, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 17, - "x": 2, - "y": 9, - "action": "DOWN", - "reward": 0.1, - "battery": 0.7167, + "step": 11, + "x": 4, + "y": 5, + "action": "RIGHT", + "reward": 0.15, + "battery": 0.89, "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 18, - "x": 2, - "y": 9, - "action": 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0.1, - "battery": 0.5833, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "step": 19, + "x": 7, + "y": 6, + "action": "DOWN", + "reward": 0.15, + "battery": 0.81, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 26, - "x": 2, - "y": 9, - "action": "WAIT", - "reward": 0.1, - "battery": 0.5667, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" - }, + "step": 20, + "x": 7, + "y": 7, + "action": "DOWN", + "reward": 1.05, + "battery": 0.8, + "message": "\u2705 Delivery 3/3 done!" + } + ], + "grid_meta": { + "width": 14, + "height": 14 + }, + "delivery_positions": [ + [ + 1, + 5 + ], + [ + 7, + 3 + ], + [ + 7, + 7 + ] + ], + "deliveries_done": 3, + "total_reward": 5.9, + "total_steps": 20 + }, + { + "task": "drone_env.core.graders:grade_easy", + "steps": [ { - "step": 27, - "x": 2, - "y": 9, - "action": "WAIT", + "step": 1, + "x": 4, + "y": 2, + "action": "LEFT", "reward": 0.1, - "battery": 0.55, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "battery": 0.9833, + 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"step": 47, - "x": 2, - "y": 9, - "action": "WAIT", - "reward": 0.1, - "battery": 0.2167, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" - }, - { - "step": 48, - "x": 2, - "y": 9, - "action": "WAIT", - "reward": 0.1, - "battery": 0.2, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" - }, - { - "step": 49, - "x": 2, - "y": 9, - "action": "WAIT", - "reward": 0.1, - "battery": 0.1833, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" - }, - { - "step": 50, - "x": 2, - "y": 9, - "action": "WAIT", - "reward": 0.1, - "battery": 0.1667, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" - }, - { - "step": 51, - "x": 2, - "y": 9, - "action": "WAIT", - "reward": 0.1, - "battery": 0.15, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" - }, - { - "step": 52, - "x": 2, - "y": 9, - "action": "WAIT", - "reward": 0.1, - "battery": 0.1333, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" - }, - { - "step": 53, - "x": 2, - "y": 9, - "action": "WAIT", - "reward": 0.1, - "battery": 0.1167, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" - }, - { - "step": 54, - "x": 2, - "y": 9, - "action": "WAIT", - "reward": 0.1, - "battery": 0.1, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" - }, - { - "step": 55, - "x": 2, - "y": 9, - "action": "WAIT", - "reward": 0.1, - "battery": 0.0833, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" - }, - { - "step": 56, - "x": 2, - "y": 9, - "action": "WAIT", - "reward": 0.1, - "battery": 0.0667, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" - }, - { - "step": 57, - "x": 2, - "y": 9, - "action": "WAIT", - "reward": 0.1, - "battery": 0.05, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" - }, - { - "step": 58, - "x": 2, - "y": 9, - "action": "WAIT", + "step": 2, + "x": 3, + "y": 2, + "action": "UP", "reward": 0.1, - "battery": 0.0333, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "battery": 0.9667, + "message": "Flying over a tree! \ud83c\udf33" }, { - "step": 59, - "x": 2, - "y": 9, - "action": "WAIT", + "step": 3, + "x": 3, + "y": 1, + "action": "UP", "reward": 0.1, - "battery": 0.0167, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "battery": 0.95, + "message": "On road \ud83d\udee3\ufe0f" }, { - "step": 60, - "x": 2, - "y": 9, - "action": "WAIT", - "reward": 0.1, - "battery": 0.0, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "step": 4, + "x": 4, + "y": 1, + "action": "RIGHT", + "reward": 1.05, + "battery": 0.9333, + "message": "\u2705 Delivery 1/1 done!" } ], "grid_meta": { @@ -13849,13 +13840,13 @@ }, "delivery_positions": [ [ - 2, - 5 + 4, + 1 ] ], - "deliveries_done": 0, - "total_reward": 6.4, - "total_steps": 60 + "deliveries_done": 1, + "total_reward": 1.35, + "total_steps": 4 }, { "task": "drone_env.core.graders:grade_easy", @@ -13863,7 +13854,7 @@ { "step": 1, "x": 4, - "y": 3, + "y": 6, "action": "UP", "reward": 0.1, "battery": 0.9833, @@ -13872,7 +13863,7 @@ { "step": 2, "x": 5, - "y": 3, + "y": 6, "action": "RIGHT", "reward": 0.1, "battery": 0.9667, @@ -13880,17 +13871,17 @@ }, { "step": 3, - "x": 5, - "y": 2, - "action": "UP", + "x": 6, + "y": 6, + "action": "RIGHT", "reward": 0.1, "battery": 0.95, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 4, - "x": 6, - "y": 2, + "x": 7, + "y": 6, "action": "RIGHT", "reward": 0.1, "battery": 0.9333, @@ -13898,20 +13889,29 @@ }, { "step": 5, - "x": 6, - "y": 1, - "action": "UP", + "x": 8, + "y": 6, + "action": "RIGHT", "reward": 0.1, "battery": 0.9167, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 6, - "x": 7, - "y": 1, + "x": 8, + "y": 7, + "action": "DOWN", + "reward": 0.1, + "battery": 0.9, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 7, + "x": 9, + "y": 7, "action": "RIGHT", "reward": 1.05, - "battery": 0.9, + "battery": 0.8833, "message": "\u2705 Delivery 1/1 done!" } ], @@ -13921,22 +13921,22 @@ }, "delivery_positions": [ [ - 7, - 1 + 9, + 7 ] ], "deliveries_done": 1, - "total_reward": 1.55, - "total_steps": 6 + "total_reward": 1.65, + "total_steps": 7 }, { - "task": "drone_env.core.graders:grade_easy", + "task": "drone_env.server.graders.easy:grade_easy", "steps": [ { "step": 1, - "x": 5, - "y": 7, - "action": "UP", + "x": 6, + "y": 2, + "action": "LEFT", "reward": 0.1, "battery": 0.9833, "message": "On road \ud83d\udee3\ufe0f" @@ -13944,931 +13944,871 @@ { "step": 2, "x": 5, - "y": 6, - "action": "UP", - "reward": 0.1, + "y": 2, + "action": "LEFT", + "reward": 0.25, "battery": 0.9667, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Hit obstacle! \ud83d\udea7" }, { "step": 3, - "x": 5, - "y": 5, - "action": "UP", + "x": 4, + "y": 2, + "action": "LEFT", "reward": 0.1, "battery": 0.95, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 4, - "x": 5, - "y": 4, + "x": 4, + "y": 1, "action": "UP", - "reward": 1.05, + "reward": 0.1, "battery": 0.9333, - "message": "\u2705 Delivery 1/1 done!" - } - ], - "grid_meta": { - "width": 10, - "height": 10 - }, - "delivery_positions": [ - [ - 5, - 4 - ] - ], - 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0.94, + "x": 3, + "y": 0, + "action": "UP", + "reward": 0.1, + "battery": 0.9, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 7, - "x": 8, - "y": 7, + "x": 3, + "y": 0, "action": "UP", - "reward": 0.15, - "battery": 0.93, - "message": "On road \ud83d\udee3\ufe0f" + "reward": 0.2, + "battery": 0.8833, + "message": "Hit UP boundary! \ud83d\udeab" }, { "step": 8, - "x": 7, - "y": 7, - "action": "LEFT", - "reward": 1.05, - "battery": 0.92, - "message": "\u2705 Delivery 1/3 done!" + "x": 4, + "y": 0, + "action": "RIGHT", + "reward": 0.1, + "battery": 0.8667, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 9, - "x": 7, - "y": 6, + "x": 4, + "y": 0, "action": "UP", - "reward": 0.15, - "battery": 0.91, - "message": "On road \ud83d\udee3\ufe0f" + "reward": 0.2, + "battery": 0.85, + "message": "Hit UP boundary! \ud83d\udeab" }, { "step": 10, - "x": 6, - "y": 6, - "action": "LEFT", - "reward": 0.15, - "battery": 0.9, + "x": 5, + "y": 0, + "action": "RIGHT", + "reward": 0.1, + "battery": 0.8333, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 11, - "x": 6, - "y": 5, - "action": "UP", - "reward": 0.15, - "battery": 0.89, + "x": 4, + "y": 0, + "action": "LEFT", + "reward": 0.1, + "battery": 0.8167, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 12, - "x": 5, - "y": 5, - "action": "LEFT", - "reward": 0.15, - "battery": 0.88, - "message": "On road \ud83d\udee3\ufe0f" + "x": 4, + "y": 0, + "action": "UP", + "reward": 0.2, + "battery": 0.8, + "message": "Hit UP boundary! \ud83d\udeab" }, { "step": 13, "x": 5, - "y": 4, - "action": "UP", - "reward": 0.15, - "battery": 0.87, + "y": 0, + "action": "RIGHT", + "reward": 0.1, + "battery": 0.7833, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 14, "x": 4, - "y": 4, + "y": 0, "action": "LEFT", - "reward": 0.15, - "battery": 0.86, + "reward": 0.1, + "battery": 0.7667, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 15, "x": 4, - "y": 3, + "y": 0, "action": "UP", - "reward": 0.15, - "battery": 0.85, - 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0.1, + "battery": 0.6833, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" + }, { "step": 20, - "x": 1, - "y": 1, - "action": "LEFT", - "reward": 0.15, - "battery": 0.8, - "message": "On road \ud83d\udee3\ufe0f" + "x": 4, + "y": 0, + "action": "WAIT", + "reward": 0.1, + "battery": 0.6667, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 21, - "x": 1, + "x": 4, "y": 0, - "action": "UP", - "reward": 0.15, - "battery": 0.79, - "message": "On road \ud83d\udee3\ufe0f" + "action": "WAIT", + "reward": 0.1, + "battery": 0.65, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 22, - "x": 0, + "x": 4, "y": 0, - "action": "LEFT", - "reward": 1.05, - "battery": 0.78, - "message": "\u2705 Delivery 2/3 done!" + "action": "WAIT", + "reward": 0.1, + "battery": 0.6333, + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 23, - "x": 1, + "x": 4, "y": 0, - "action": "RIGHT", - "reward": 0.15, - "battery": 0.77, - "message": "On road \ud83d\udee3\ufe0f" 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- "x": 9, - "y": 0, - "action": "WAIT", + "x": 0, + "y": 8, + "action": "LEFT", "reward": 0.1, "battery": 0.8667, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 9, - "x": 9, - "y": 0, - "action": "WAIT", + "x": 0, + "y": 7, + "action": "UP", "reward": 0.1, "battery": 0.85, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 10, - "x": 9, - "y": 0, - "action": "WAIT", + "x": 1, + "y": 7, + "action": "RIGHT", "reward": 0.1, "battery": 0.8333, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 11, - "x": 9, - "y": 0, - "action": "WAIT", + "x": 0, + "y": 7, + "action": "LEFT", "reward": 0.1, "battery": 0.8167, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 12, - "x": 9, - "y": 0, - "action": "WAIT", - "reward": 0.1, + "x": 0, + "y": 7, + "action": "LEFT", + "reward": 0.2, "battery": 0.8, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "message": "Hit LEFT boundary! \ud83d\udeab" }, { "step": 13, - "x": 9, - "y": 0, - "action": "WAIT", + "x": 0, + "y": 6, + "action": "UP", "reward": 0.1, "battery": 0.7833, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 14, - "x": 9, - "y": 0, - "action": "WAIT", + "x": 1, + "y": 6, + "action": "RIGHT", "reward": 0.1, "battery": 0.7667, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 15, - "x": 9, - "y": 0, - "action": "WAIT", + "x": 0, + "y": 6, + "action": "LEFT", "reward": 0.1, "battery": 0.75, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 16, - "x": 9, - "y": 0, - "action": "WAIT", + "x": 1, + "y": 6, + "action": "RIGHT", "reward": 0.1, "battery": 0.7333, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 17, - "x": 9, - "y": 0, - "action": "WAIT", + "x": 0, + "y": 6, + "action": "LEFT", "reward": 0.1, "battery": 0.7167, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 18, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.7, @@ -14876,8 +14816,8 @@ }, { "step": 19, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.6833, @@ -14885,8 +14825,8 @@ }, { "step": 20, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.6667, @@ -14894,8 +14834,8 @@ }, { "step": 21, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.65, @@ -14903,8 +14843,8 @@ }, { "step": 22, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.6333, @@ -14912,8 +14852,8 @@ }, { "step": 23, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.6167, @@ -14921,8 +14861,8 @@ }, { "step": 24, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.6, @@ -14930,8 +14870,8 @@ }, { "step": 25, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.5833, @@ -14939,8 +14879,8 @@ }, { "step": 26, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.5667, @@ -14948,8 +14888,8 @@ }, { "step": 27, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.55, @@ -14957,8 +14897,8 @@ }, { "step": 28, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.5333, @@ -14966,8 +14906,8 @@ }, { "step": 29, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.5167, @@ -14975,8 +14915,8 @@ }, { "step": 30, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.5, @@ -14984,8 +14924,8 @@ }, { "step": 31, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.4833, @@ -14993,8 +14933,8 @@ }, { "step": 32, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.4667, @@ -15002,8 +14942,8 @@ }, { "step": 33, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.45, @@ -15011,8 +14951,8 @@ }, { "step": 34, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.4333, @@ -15020,8 +14960,8 @@ }, { "step": 35, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.4167, @@ -15029,8 +14969,8 @@ }, { "step": 36, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.4, @@ -15038,8 +14978,8 @@ }, { "step": 37, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.3833, @@ -15047,8 +14987,8 @@ }, { "step": 38, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.3667, @@ -15056,8 +14996,8 @@ }, { "step": 39, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.35, @@ -15065,8 +15005,8 @@ }, { "step": 40, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.3333, @@ -15074,8 +15014,8 @@ }, { "step": 41, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.3167, @@ -15083,8 +15023,8 @@ }, { "step": 42, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.3, @@ -15092,8 +15032,8 @@ }, { "step": 43, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.2833, @@ -15101,8 +15041,8 @@ }, { "step": 44, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.2667, @@ -15110,8 +15050,8 @@ }, { "step": 45, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.25, @@ -15119,8 +15059,8 @@ }, { "step": 46, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.2333, @@ -15128,8 +15068,8 @@ }, { "step": 47, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.2167, @@ -15137,8 +15077,8 @@ }, { "step": 48, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.2, @@ -15146,8 +15086,8 @@ }, { "step": 49, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.1833, @@ -15155,8 +15095,8 @@ }, { "step": 50, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.1667, @@ -15164,8 +15104,8 @@ }, { "step": 51, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.15, @@ -15173,8 +15113,8 @@ }, { "step": 52, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.1333, @@ -15182,8 +15122,8 @@ }, { "step": 53, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.1167, @@ -15191,8 +15131,8 @@ }, { "step": 54, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.1, @@ -15200,8 +15140,8 @@ }, { "step": 55, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.0833, @@ -15209,8 +15149,8 @@ }, { "step": 56, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.0667, @@ -15218,8 +15158,8 @@ }, { "step": 57, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.05, @@ -15227,8 +15167,8 @@ }, { "step": 58, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.0333, @@ -15236,8 +15176,8 @@ }, { "step": 59, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.0167, @@ -15245,8 +15185,8 @@ }, { "step": 60, - "x": 9, - "y": 0, + "x": 0, + "y": 6, "action": "WAIT", "reward": 0.1, "battery": 0.0, @@ -15259,844 +15199,916 @@ }, "delivery_positions": [ [ - 0, - 7 + 2, + 3 ] ], "deliveries_done": 0, - "total_reward": 6.1, + "total_reward": 6.2, "total_steps": 60 }, { - "task": "drone_env.core.graders:grade_easy", + "task": "drone_env.graders.medium:grade_medium", "steps": [ { "step": 1, - "x": 8, - "y": 7, + "x": 11, + "y": 8, "action": "LEFT", - "reward": 0.1, - "battery": 0.9833, + "reward": 0.15, + "battery": 0.99, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 2, - "x": 8, + "x": 10, "y": 8, - "action": "DOWN", - "reward": 0.1, - "battery": 0.9667, + "action": "LEFT", + "reward": 0.15, + "battery": 0.98, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 3, - "x": 7, + "x": 9, "y": 8, "action": "LEFT", - "reward": 0.1, - "battery": 0.95, + "reward": 0.15, + "battery": 0.97, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 4, "x": 8, "y": 8, - "action": "RIGHT", - "reward": 0.1, - "battery": 0.9333, + "action": "LEFT", + "reward": 0.15, + "battery": 0.96, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 5, - "x": 7, - "y": 8, - "action": "LEFT", - "reward": 0.1, - "battery": 0.9167, + "x": 8, + "y": 7, + "action": "UP", + "reward": 0.15, + "battery": 0.95, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 6, - "x": 8, - "y": 8, - "action": "RIGHT", - "reward": 0.1, - "battery": 0.9, + "x": 7, + "y": 7, + "action": "LEFT", + "reward": 0.15, + "battery": 0.94, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 7, "x": 7, - "y": 8, - "action": "LEFT", - "reward": 0.1, - "battery": 0.8833, + "y": 6, + "action": "UP", + "reward": 0.15, + "battery": 0.93, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 8, - "x": 7, - "y": 8, - "action": "WAIT", - "reward": 0.1, - "battery": 0.8667, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "x": 6, + "y": 6, + "action": "LEFT", + "reward": 0.15, + "battery": 0.92, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 9, "x": 7, - "y": 8, - "action": "WAIT", - "reward": 0.1, - "battery": 0.85, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "y": 6, + "action": "RIGHT", + "reward": 0.15, + "battery": 0.91, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 10, - "x": 7, - "y": 8, - "action": "WAIT", - "reward": 0.1, - "battery": 0.8333, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "x": 6, + "y": 6, + "action": "LEFT", + "reward": 0.15, + "battery": 0.9, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 11, - "x": 7, - "y": 8, - "action": "WAIT", - "reward": 0.1, - "battery": 0.8167, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "x": 6, + "y": 5, + "action": "UP", + "reward": 0.15, + "battery": 0.89, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 12, - "x": 7, - "y": 8, - "action": "WAIT", - "reward": 0.1, - "battery": 0.8, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" - }, - { + "x": 6, + "y": 4, + "action": "UP", + "reward": 0.25, + "battery": 0.88, + "message": "Hit obstacle! \ud83d\udea7" + }, + { "step": 13, - "x": 7, - "y": 8, - "action": "WAIT", - "reward": 0.1, - "battery": 0.7833, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "x": 5, + "y": 4, + "action": "LEFT", + "reward": 0.15, + "battery": 0.87, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 14, - "x": 7, - "y": 8, - "action": "WAIT", - "reward": 0.1, - "battery": 0.7667, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "x": 5, + "y": 3, + "action": "UP", + "reward": 0.15, + "battery": 0.86, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 15, - "x": 7, - "y": 8, - "action": "WAIT", - "reward": 0.1, - "battery": 0.75, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "x": 5, + "y": 2, + "action": "UP", + "reward": 0.15, + "battery": 0.85, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 16, - "x": 7, - "y": 8, - "action": "WAIT", - "reward": 0.1, - "battery": 0.7333, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "x": 5, + "y": 1, + "action": "UP", + "reward": 0.15, + "battery": 0.84, + "message": "On road \ud83d\udee3\ufe0f" }, { "step": 17, - "x": 7, - "y": 8, - "action": "WAIT", - "reward": 0.1, - "battery": 0.7167, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "x": 5, + "y": 0, + "action": "UP", + "reward": 0.15, + "battery": 0.83, + "message": "Flying above a building! \ud83c\udfe2" }, { "step": 18, - "x": 7, - "y": 8, + "x": 5, + "y": 0, "action": "WAIT", - "reward": 0.1, - "battery": 0.7, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "reward": 0.15, + "battery": 0.82, + "message": "Flying above a building! \ud83c\udfe2" }, { "step": 19, - "x": 7, - "y": 8, + "x": 5, + "y": 0, "action": "WAIT", - "reward": 0.1, - "battery": 0.6833, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "reward": 0.15, + "battery": 0.81, + "message": "Flying above a building! \ud83c\udfe2" }, { "step": 20, - "x": 7, - "y": 8, + "x": 5, + "y": 0, "action": "WAIT", - "reward": 0.1, - "battery": 0.6667, - "message": "Drone is idling (WAIT)... \ud83d\udd0b" + "reward": 0.15, + "battery": 0.8, + "message": "Flying 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1.05, - "battery": 0.8, - "message": "\u2705 Delivery 3/3 done!" + "step": 87, + "x": 5, + "y": 0, + "action": "WAIT", + "reward": 0.15, + "battery": 0.13, + "message": "Flying above a building! \ud83c\udfe2" + }, + { + "step": 88, + "x": 5, + "y": 0, + "action": "WAIT", + "reward": 0.15, + "battery": 0.12, + "message": "Flying above a building! \ud83c\udfe2" + }, + { + "step": 89, + "x": 5, + "y": 0, + "action": "WAIT", + "reward": 0.15, + "battery": 0.11, + "message": "Flying above a building! \ud83c\udfe2" + }, + { + "step": 90, + "x": 5, + "y": 0, + "action": "WAIT", + "reward": 0.15, + "battery": 0.1, + "message": "Flying above a building! \ud83c\udfe2" + }, + { + "step": 91, + "x": 5, + "y": 0, + "action": "WAIT", + "reward": 0.15, + "battery": 0.09, + "message": "Flying above a building! \ud83c\udfe2" + }, + { + "step": 92, + "x": 5, + "y": 0, + "action": "WAIT", + "reward": 0.15, + "battery": 0.08, + "message": "Flying above a building! \ud83c\udfe2" + }, + { + "step": 93, + "x": 5, + "y": 0, + "action": "WAIT", + "reward": 0.15, + "battery": 0.07, + "message": "Flying above a building! \ud83c\udfe2" + }, + { + "step": 94, + "x": 5, + "y": 0, + "action": "WAIT", + "reward": 0.15, + "battery": 0.06, + "message": "Flying above a building! \ud83c\udfe2" + }, + { + "step": 95, + "x": 5, + "y": 0, + "action": "WAIT", + "reward": 0.15, + "battery": 0.05, + "message": "Flying above a building! \ud83c\udfe2" + }, + { + "step": 96, + "x": 5, + "y": 0, + "action": "WAIT", + "reward": 0.15, + "battery": 0.04, + "message": "Flying above a building! \ud83c\udfe2" + }, + { + "step": 97, + "x": 5, + "y": 0, + "action": "WAIT", + "reward": 0.15, + "battery": 0.03, + "message": "Flying above a building! \ud83c\udfe2" + }, + { + "step": 98, + "x": 5, + "y": 0, + "action": "WAIT", + "reward": 0.15, + "battery": 0.02, + "message": "Flying above a building! \ud83c\udfe2" + }, + { + "step": 99, + "x": 5, + "y": 0, + "action": "WAIT", + "reward": 0.15, + "battery": 0.01, + "message": "Flying above a building! \ud83c\udfe2" + }, + { + "step": 100, + "x": 5, + "y": 0, + "action": "WAIT", + "reward": 0.15, + "battery": 0.0, + "message": "Flying above a building! \ud83c\udfe2" } ], "grid_meta": { @@ -16105,48 +16117,48 @@ }, "delivery_positions": [ [ - 1, - 5 + 5, + 9 ], [ - 7, - 3 + 4, + 8 ], [ - 7, - 7 + 5, + 11 ] ], - "deliveries_done": 3, - "total_reward": 5.9, - "total_steps": 20 + "deliveries_done": 0, + "total_reward": 15.25, + "total_steps": 100 }, { - "task": "drone_env.core.graders:grade_easy", + "task": "drone_env.graders.easy:grade_easy", "steps": [ { "step": 1, - "x": 4, - "y": 2, - "action": "LEFT", + "x": 1, + "y": 4, + "action": "RIGHT", "reward": 0.1, "battery": 0.9833, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 2, - "x": 3, - "y": 2, - "action": "LEFT", + "x": 1, + "y": 3, + "action": "UP", "reward": 0.1, "battery": 0.9667, "message": "On road \ud83d\udee3\ufe0f" }, { "step": 3, - "x": 3, - "y": 1, - "action": "UP", + "x": 2, + "y": 3, + "action": "RIGHT", "reward": 0.1, "battery": 0.95, "message": "On road \ud83d\udee3\ufe0f" @@ -16154,10 +16166,37 @@ { "step": 4, "x": 2, + "y": 2, + "action": "UP", + "reward": 0.1, + "battery": 0.9333, + "message": "Flying over a tree! \ud83c\udf33" + }, + { + "step": 5, + "x": 3, + "y": 2, + "action": "RIGHT", + "reward": 0.25, + "battery": 0.9167, + "message": "Hit obstacle! \ud83d\udea7" + }, + { + "step": 6, + "x": 3, "y": 1, - "action": "LEFT", + "action": "UP", + "reward": 0.1, + "battery": 0.9, + "message": "On road \ud83d\udee3\ufe0f" + }, + { + "step": 7, + "x": 4, + "y": 1, + "action": "RIGHT", "reward": 1.05, - "battery": 0.9333, + "battery": 0.8833, "message": "\u2705 Delivery 1/1 done!" } ], @@ -16167,1524 +16206,11367 @@ }, "delivery_positions": [ [ - 2, + 4, 1 ] ], "deliveries_done": 1, - "total_reward": 1.35, - "total_steps": 4 + "total_reward": 1.8, + "total_steps": 7 }, { - "task": "drone_env.core.graders:grade_easy", + "task": "drone_env.graders.easy:grade_easy", "steps": [ { "step": 1, - "x": 1, - "y": 7, - "action": "DOWN", + "x": 5, + "y": 8, + "action": "WAIT", "reward": 0.1, "battery": 0.9833, - "message": "On road \ud83d\udee3\ufe0f" + "message": "Drone is idling (WAIT)... \ud83d\udd0b" }, { "step": 2, - "x": 0, - "y": 7, - "action": "LEFT", - "reward": 1.05, + "x": 5, + "y": 8, + "action": "WAIT", + "reward": 0.1, "battery": 0.9667, - "message": "\u2705 Delivery 1/1 done!" - } - ], - "grid_meta": { - "width": 10, - "height": 10 - }, - "delivery_positions": [ - [ - 0, - 7 - ] - ], - "deliveries_done": 1, - "total_reward": 1.15, - "total_steps": 2 - }, - { - "task": "drone_env.core.graders:grade_easy", - "steps": [ + "message": "Drone is idling (WAIT)... \ud83d\udd0b" + }, { - "step": 1, - "x": 4, - "y": 5, - "action": "UP", + "step": 3, + "x": 5, + "y": 8, + "action": "WAIT", "reward": 0.1, - "battery": 0.9833, - "message": "On road \ud83d\udee3\ufe0f" + "battery": 0.95, + "message": "Drone is idling 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