From c2fed4b4d7a58964a3c5dfbf1b7085e91ae83ee5 Mon Sep 17 00:00:00 2001 From: Armin <armin.co@hs-bochum.de> Date: Sat, 13 Mar 2021 11:56:40 +0100 Subject: [PATCH] Modified reward function Car has to stay still at the end. --- .gitignore | 1 + carla_environment.py | 8 +++----- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/.gitignore b/.gitignore index ef8e367..e624cfb 100644 --- a/.gitignore +++ b/.gitignore @@ -4,6 +4,7 @@ saved_agents benchmarks baselines simple +final_wo_o workspace.code-workspace test tech_demo.py diff --git a/carla_environment.py b/carla_environment.py index 8c93ae3..5f00231 100644 --- a/carla_environment.py +++ b/carla_environment.py @@ -263,13 +263,11 @@ class World: r -= 0.02 done = False - if pos_diff < 1.2: + if pos_diff < 1.1 and v < 0.01: done = True - r += 100 + r += 150 if yaw_dif < 0.01: - r+= 100 - if v < 0.01: - r+=50 + r+= 50 if self.collision_sensor.collision is not None: r -= 100 -- GitLab