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Fix lunar lander determinism #979

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merged 2 commits into from
Mar 22, 2024
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Fix lunar lander determinism #979

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0f3bf9d
Fix lunar lander determinism
pseudo-rnd-thoughts Mar 22, 2024
06b97ce
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pseudo-rnd-thoughts Mar 22, 2024
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9 changes: 8 additions & 1 deletion gymnasium/envs/box2d/lunar_lander.py
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Expand Up @@ -178,7 +178,9 @@ class LunarLander(gym.Env, EzPickle):
The recommended value for `turbulence_power` is between 0.0 and 2.0.

## Version History
- v3: Reset wind and turbulence offset (`C`) whenever the environment is reset to ensure statistical independence between consecutive episodes (related [GitHub issue](https://github.com/Farama-Foundation/Gymnasium/issues/954)).
- v3: Reset wind and turbulence offset (`C`) whenever the environment is reset to ensure statistical independence
between consecutive episodes (related [GitHub issue](https://github.com/Farama-Foundation/Gymnasium/issues/954)).
Fix non-deterministic behaviour due to not fully destroying the world (related [GitHub issue](https://github.com/Farama-Foundation/Gymnasium/issues/728)).
- v2: Count energy spent and in v0.24, added turbulence with wind power and turbulence_power parameters
- v1: Legs contact with ground added in state vector; contact with ground give +10 reward points,
and -10 if then lose contact; reward renormalized to 200; harder initial random push.
Expand Down Expand Up @@ -328,6 +330,11 @@ def reset(
):
super().reset(seed=seed)
self._destroy()

# Bug's workaround for: https://github.com/Farama-Foundation/Gymnasium/issues/728
# Not sure why the self._destroy() is not enough to clean(reset) the total world environment elements, need more investigation on the root cause,
# we must create a totally new world for self.reset(), or the bug#728 will happen
self.world = Box2D.b2World(gravity=(0, self.gravity))
self.world.contactListener_keepref = ContactDetector(self)
self.world.contactListener = self.world.contactListener_keepref
self.game_over = False
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