Update quadx_waypoints_env.py#81
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NishantChandna1403 wants to merge 1 commit intojjshoots:masterfrom
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| yaw_rate = abs(self.env.state(0)[0][2]) # Assuming z-axis is the last component | ||
| yaw_rate_penalty = 0.01 * yaw_rate**2# Add penalty for high yaw rate | ||
| self.reward -= yaw_rate_penalty # You can adjust the coefficient (0.01) as needed |
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This should be placed in the above if not self.sparse_reward conditional.
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Improving Reward Function, Adding negative reward for yaw rates to prevent high yaw while training.