Increasing the reward for staying in lane

[aaronh65]

A lot of runs are failed prematurely because the image agent will go the wrong way and cause a terminating route deviation infraction. This could be something like taking a wrong turn at an intersection, or taking an exit on the highway when the agent should have continued going straight.

In the paper, "the agent receives a reward of +1 for staying in the target lane at the desired position, orientation and speed, and is smoothly penalized for deviating from the lane down to a value of 0". I would like to try increasing this reward component to have a maximal value greater than +1 (perhaps +3 or something).

How would you recommend I go about this?

[dotchen]

Sorry for the delayed response. You can change the reward scales in bellman.py.