Calculate best episode using full episode return in cartpole_swingup.

Return is non-monotonic in this problem; currently this cherry-picks the peak of return during the episode.

Also applied same change to base cartpole for consistency and efficiency, but cartpole return is monotonic (so not a bug).

PiperOrigin-RevId: 308033113
Change-Id: I9add00d41f8e87d518e00c3fef9cd9ad7ad18d0b

bsuite/environments/cartpole.py

@@ -145,9 +145,9 @@ def step(self, action):
     reward = 1. if is_reward else 0.
     self._raw_return += reward
     self._episode_return += reward
-    self._best_episode = max(self._episode_return, self._best_episode)
 
     if self._state.time_elapsed > self._max_time or not is_reward:
+      self._best_episode = max(self._episode_return, self._best_episode)
       self._reset_next_step = True
       return dm_env.termination(reward=reward, observation=self.observation)
     return dm_env.transition(reward=reward, observation=self.observation)

bsuite/experiments/cartpole_swingup/cartpole_swingup.py

@@ -111,11 +111,11 @@ def step(self, action):
       self._total_upright += 1
     self._raw_return += reward
     self._episode_return += reward
-    self._best_episode = max(self._episode_return, self._best_episode)
 
     is_end_of_episode = (self._state.time_elapsed > self._max_time
                          or np.abs(self._state.x) > self._x_threshold)
     if is_end_of_episode:
+      self._best_episode = max(self._episode_return, self._best_episode)
       self._reset_next_step = True
       return dm_env.termination(reward=reward, observation=self.observation)
     else:  # continuing transition.