| MDP | Contents |
|---|---|
| State | ① Velocity of Kart ② Rays of distance between kart and the object * 9 ③ Inner product value between the next destination and the kart direction vector of the kart ④ Kart acceleration or not |
| Action | ① [left, straight, right] ② [accleration, stop, brake] |
| Reward | ① hit: -2 ② pass next goal: 1 ③ velocity of kart is 0: -0.002 ④ Inner product value: 0.03 |
state는 위 표의 state를 4개 쌓은 벡터를 사용한다.
current_state = decision_steps.obs[0]
next_state = terminal_steps.obs[0]
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