shaktisd / deepracer-reward

AWS DeepRacer reward function

AWS DeepRacer Reward Function

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 Space

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 Values

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

Shout Outs

AWS DeepRacer Team