From 1c66bfb11fb2448fc3026411c46653ce5b874281 Mon Sep 17 00:00:00 2001 From: vyeoms Date: Mon, 17 Aug 2026 22:25:28 +0100 Subject: [PATCH 1/2] Widen drone lower sweep range --- config/drone.ini | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/config/drone.ini b/config/drone.ini index 0a089390d4..e0bc0c64c8 100644 --- a/config/drone.ini +++ b/config/drone.ini @@ -85,6 +85,12 @@ max = 2e8 mean = 8e7 scale = auto +[sweep.train.clip_coef] +distribution = uniform +min = 0.01 +max = 0.9 +scale = auto + # hover [sweep.env.hover_alpha_dist] distribution = log_normal From 6bfd048efd5cc9031976839c0c71056c63adef4f Mon Sep 17 00:00:00 2001 From: vyeoms Date: Mon, 17 Aug 2026 22:26:20 +0100 Subject: [PATCH 2/2] (battle) Fix perf+score logging --- ocean/battle/battle.h | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/ocean/battle/battle.h b/ocean/battle/battle.h index 488c9782d3..006ce858a4 100644 --- a/ocean/battle/battle.h +++ b/ocean/battle/battle.h @@ -767,9 +767,9 @@ void compute_observations(Battle* env) { obs[obs_idx++] = agent->y; obs[obs_idx++] = agent->z; obs[obs_idx++] = agent->y - ground_height(env, agent->x, agent->z); - obs[obs_idx++] = abs(agent->x) - 0.95f*env->size_x; - obs[obs_idx++] = abs(agent->z) - 0.95f*env->size_z; - obs[obs_idx++] = abs(agent->y) - 0.95f*env->size_y; + obs[obs_idx++] = fabsf(agent->x) - 0.95f*env->size_x; + obs[obs_idx++] = fabsf(agent->z) - 0.95f*env->size_z; + obs[obs_idx++] = fabsf(agent->y) - 0.95f*env->size_y; obs[obs_idx++] = agent->speed; obs[obs_idx++] = agent->health; obs[obs_idx++] = agent->max_turn; @@ -921,7 +921,8 @@ void puf_step(Battle* env) { if (i < env->num_agents/2) { env->agents[i].rewards[0] = reward; env->agents[i].terminals[0] = 1; - env->log.score = env->log.episode_return; + env->log.score += agent->episode_return; + env->log.perf += (agent->episode_return > 0.0f) ? 1 : 0; env->log.episode_length += agent->episode_length; env->log.episode_return += agent->episode_return; env->log.collision_rate += collision;