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Commit c2fed4b4 authored by Armin Co's avatar Armin Co
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Modified reward function

Car has to stay still at the end.
parent 640f456f
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...@@ -4,6 +4,7 @@ saved_agents ...@@ -4,6 +4,7 @@ saved_agents
benchmarks benchmarks
baselines baselines
simple simple
final_wo_o
workspace.code-workspace workspace.code-workspace
test test
tech_demo.py tech_demo.py
......
...@@ -263,12 +263,10 @@ class World: ...@@ -263,12 +263,10 @@ class World:
r -= 0.02 r -= 0.02
done = False done = False
if pos_diff < 1.2: if pos_diff < 1.1 and v < 0.01:
done = True done = True
r += 100 r += 150
if yaw_dif < 0.01: if yaw_dif < 0.01:
r+= 100
if v < 0.01:
r+= 50 r+= 50
if self.collision_sensor.collision is not None: if self.collision_sensor.collision is not None:
......
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