Reward functionInfo
The reward function describes immediate feedback (as a score for reward or penalty) when the vehicle takes an action to move from a given position on the track to a new position. Its purpose is to encourage the vehicle to make moves along the track to reach its destination quickly. The model training process will attempt to find a policy which maximizes the average total reward the vehicle experiences.
Reward function examples
Time trial - follow the center line (Default)
This example determines how far away the agent is from the center line and gives higher reward if it is closer to the center of the track. It will incentivize the agent to closely follow the center line.
Use code
def reward_function(params):
'''
Example of rewarding the agent to follow center line
'''
# Read input parameters
track_width = params['track_width']
distance_from_center = params['distance_from_center']
# Calculate 3 markers that are at varying distances away from the center line
marker_1 = 0.1 * track_width
marker_2 = 0.25 * track_width
marker_3 = 0.5 * track_width
# Give higher reward if the car is closer to center line and vice versa
if distance_from_center <= marker_1:
reward = 1.0
elif distance_from_center <= marker_2:
reward = 0.5
elif distance_from_center <= marker_3:
reward = 0.1
else:
reward = 1e-3 # likely crashed/ close to off track
return float(reward)
Time trial - prevent zig-zag
This example incentivizes the agent to follow the center line but penalizes with lower reward if it steers too much, which will help prevent zig-zag behavior. The agent will learn to drive smoothly in the simulator and likely display the same behavior when deployed in the physical vehicle.
def reward_function(params):
'''
Example of penalize steering, which helps mitigate zig-zag behaviors
'''
# Read input parameters
distance_from_center = params['distance_from_center']
track_width = params['track_width']
steering = abs(params['steering_angle']) # Only need the absolute steering angle
# Calculate 3 markers that are at varying distances away from the center line
marker_1 = 0.1 * track_width
marker_2 = 0.25 * track_width
marker_3 = 0.5 * track_width
# Give higher reward if the agent is closer to center line and vice versa
if distance_from_center <= marker_1:
reward = 1
elif distance_from_center <= marker_2:
reward = 0.5
elif distance_from_center <= marker_3:
reward = 0.1
else:
reward = 1e-3 # likely crashed/ close to off track
# Steering penality threshold, change the number based on your action space setting
ABS_STEERING_THRESHOLD = 15
# Penalize reward if the agent is steering too much
if steering > ABS_STEERING_THRESHOLD:
reward *= 0.8
return float(reward)
Object avoidance and head-to-head - stay on one lane and not crashing (default for OA and h2h)
We consider two factors in this reward function. First, reward the agent to stay inside two borders. Second, penalize the agent for getting too close to the next object to avoid crashes. The total reward is calculated with weighted sum of the two factors. The example emphasize more on avoiding crashes but you can play with different weights.
Use code
def reward_function(params):
'''
Example of rewarding the agent to stay inside two borders
and penalizing getting too close to the objects in front
'''
all_wheels_on_track = params['all_wheels_on_track']
distance_from_center = params['distance_from_center']
track_width = params['track_width']
objects_distance = params['objects_distance']
_, next_object_index = params['closest_objects']
objects_left_of_center = params['objects_left_of_center']
is_left_of_center = params['is_left_of_center']
# Initialize reward with a small number but not zero
# because zero means off-track or crashed
reward = 1e-3
# Reward if the agent stays inside the two borders of the track
if all_wheels_on_track and (0.5 * track_width - distance_from_center) >= 0.05:
reward_lane = 1.0
else:
reward_lane = 1e-3
# Penalize if the agent is too close to the next object
reward_avoid = 1.0
# Distance to the next object
distance_closest_object = objects_distance[next_object_index]
# Decide if the agent and the next object is on the same lane
is_same_lane = objects_left_of_center[next_object_index] == is_left_of_center
if is_same_lane:
if 0.5 <= distance_closest_object < 0.8:
reward_avoid *= 0.5
elif 0.3 <= distance_closest_object < 0.5:
reward_avoid *= 0.2
elif distance_closest_object < 0.3:
reward_avoid = 1e-3 # Likely crashed
# Calculate reward by putting different weights on
# the two aspects above
reward += 1.0 * reward_lane + 4.0 * reward_avoid
return reward
