Closed jc-bao closed 1 year ago
:wrench: Trail reward engineering: penalty large roll/yaw angle
fine sim | dummy sim |
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👀 Results hovering at a fixed point far away from the target position. Tracking error = 18cm.
🤔 Possible reason
🔧 Trail Remove the velocity penalty and try again.
👀 Results Now tracking performance is much better. Tracking error = 2cm.