About calc_potential() function with husky

[Berk035]

Hello dear contributors,

I study with husky robot in a virtual environment about RL. I used (progress) variable that stands for progress = potential - potential_old . So, I aim that the agent must make progress through target location in environment. The function is calc_potential() for this purpose. I need to understand specific point of the function. Function code is:

def calc_potential(self):
        # progress in potential field is speed*dt, typical speed is about 2-3 meter per second, this potential will change 2-3 per frame (not per second),
        return - self.walk_target_dist / self.scene.dt

This force the agent to go towards to target. But, I need change this situation at some points such as walls, stairs and holes. Let's back to the question:

• Could you describe definition of potential for husky robot?
• What is the effect of division self.scene.dt ?
• What happened if I change self.walk_target_dist with constant parameters? (I think, It forces the agent go faster but I need different sights.)

Thank you in advance. Have a nice day.