reward_config.json
1.5 KB · 42 lines · json Raw
1 {
2 "failed_landing_penalty": 900.0,
3 "flip_completion_bonus": 500.0,
4 "flip_corridor_half_width": 0.35,
5 "flip_entry_penalty_weight": 600.0,
6 "flip_landing_bonus": 2000.0,
7 "in_zone_crash_penalty": 1500.0,
8 "landing_without_flip_penalty": 600.0,
9 "landing_zone_half_width": 0.2,
10 "near_ground_height": 0.6,
11 "near_ground_overspeed_weight": 120.0,
12 "no_flip_terminal_penalty": 500.0,
13 "outside_zone_landing_penalty": 1200.0,
14 "post_flip_angle_weight": 70.0,
15 "post_flip_angular_speed_weight": 40.0,
16 "post_flip_center_weight": 100.0,
17 "post_flip_horizontal_deadband": 0.08,
18 "post_flip_horizontal_speed_weight": 50.0,
19 "post_flip_leg_contact_weight": 30.0,
20 "post_flip_max_target_vx": 0.4,
21 "post_flip_original_reward_weight": 3.0,
22 "post_flip_shaping_clip": 30.0,
23 "post_flip_shaping_gamma": 0.999,
24 "post_flip_shaping_weight": 2.0,
25 "post_flip_target_vx_gain": 0.6,
26 "post_flip_target_vy_high": -0.45,
27 "post_flip_target_vy_near_ground": -0.12,
28 "post_flip_vertical_speed_weight": 100.0,
29 "post_flip_zone_excess_weight": 180.0,
30 "pre_flip_center_weight": 25.0,
31 "pre_flip_horizontal_speed_weight": 15.0,
32 "pre_flip_original_reward_weight": 0.15,
33 "pre_flip_shaping_clip": 10.0,
34 "pre_flip_shaping_weight": 1.0,
35 "recovery_angular_velocity_tolerance": 0.3,
36 "recovery_bonus": 250.0,
37 "required_rotations": 1.0,
38 "rotation_direction": 1,
39 "rotation_progress_bonus": 300.0,
40 "safe_touchdown_vertical_speed": 0.14,
41 "upright_tolerance_radians": 0.3
42 }