Hovering finally converge to a point close to origin given no external uncertainty.

[jc-bao]

• In the following case, Z is supposed to be zero.

[jc-bao]

Assumption The penalty for velocity is too large

Trail try different reward function

Result Now the control error becomes smaller.

🧑‍🏫 Lesson Tracking and Hovering are different tasks, and should use different reward functions.