AWS DeepRacer reward function
The function will achieve ~16-17sec sec lap time in evaluation environment, but will be much closer to 11-12sec in physical environment (Note: world record thus far has been 7.8sec)
| Action No# | Steering | Speed |
|---|---|---|
| 0 | -30 degrees | 2.5 m/s |
| 1 | -30 degrees | 5 m/s |
| 2 | -20 degrees | 2.5 m/s |
| 3 | -20 degrees | 5 m/s |
| 4 | -10 degrees | 2.5 m/s |
| 5 | -10 degrees | 5 m/s |
| 6 | 0 degrees | 2.5 m/s |
| 7 | 0 degrees | 5 m/s |
| 8 | 10 degrees | 2.5 m/s |
| 9 | 10 degrees | 5 m/s |
| 10 | 20 degrees | 2.5 m/s |
| 11 | 20 degrees | 5 m/s |
| 12 | 30 degrees | 2.5 m/s |
| 13 | 30 degrees | 5 m/s |
| Hyperparameter | Value |
|---|---|
| Gradient Descent Batch Size | 64 |
| Entropy | 0.01 |
| Discount Factor | 0.999 |
| Loss Type | Huber |
| Learning Rate | 0.0003 |
| No# Experience Episodes between each policy-updating iteration | 20 |
| No# of Epochs | 10 |
AWS DeepRacer Team