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Correct values for collision and offroad rewards randomization #323

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Merged
riccardosavorgnan merged 2 commits into from
Mar 2, 2026
Merged

Correct values for collision and offroad rewards randomization #323

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084327d
Correct values for collision and offroad rewards randomization
riccardosavorgnan Mar 2, 2026
d0eb0f9
Fix the goal reward so that it aligns as well
riccardosavorgnan Mar 2, 2026
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8 changes: 4 additions & 4 deletions pufferlib/config/ocean/drive.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ reward_offroad_collision = -0.5 # Use -0.05 for carla maps
reward_lane_align = 1
reward_lane_center = 1
dt = 0.1
reward_goal = 0.4
reward_goal = 1
reward_goal_post_respawn = 0.25
; Meters around goal to be considered "reached" // ONLY active if reward_randomization = 0
goal_radius = 2.0
Expand Down Expand Up @@ -70,10 +70,10 @@ reward_bound_goal_radius_min = 2.0
reward_bound_goal_radius_max = 12.0

reward_bound_collision_min = -3.0
reward_bound_collision_max = -2.9
reward_bound_collision_max = -0.1

reward_bound_offroad_min = -3.0
reward_bound_offroad_max = -2.9
reward_bound_offroad_max = -0.1

reward_bound_comfort_min = -0.1
reward_bound_comfort_max = 0.0
Expand Down Expand Up @@ -116,7 +116,7 @@ reward_bound_acc_max = 1.5

[train]
seed=42
total_timesteps = 2_000_000_000
total_timesteps = 5_000_000_000
; learning_rate = 0.02
; gamma = 0.985
anneal_lr = True
Expand Down