Turn off head height and hurry rew

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/RewardManager.cs

     {
         public string rewardKey;
 //        [Range(.01f, .05f)]
+        public float rawVal;
         public float rewardScalar = .01f;
 //        public float rewardScalar;
         public float rewardThisStep;
     //Add new rewards
     public void UpdateReward(string key, float rawVal)
     {
-        float val = rawVal * rewardsDict[key].rewardScalar;
-        rewardsDict[key].maxRewardThisSession = val * maxSteps;
-        rewardsDict[key].rewardThisStep = val;
-        rewardsDict[key].cumulativeThisEpisode += val;
-        rewardsDict[key].cumulativeThisSession += val;
-        m_thisAgent.AddReward(val);
+        rewardsDict[key].rawVal = rawVal;
+        float scaledVal = rawVal * rewardsDict[key].rewardScalar;
+        rewardsDict[key].maxRewardThisSession = scaledVal * maxSteps;
+        rewardsDict[key].rewardThisStep = scaledVal;
+        rewardsDict[key].cumulativeThisEpisode += scaledVal;
+        rewardsDict[key].cumulativeThisSession += scaledVal;
+        m_thisAgent.AddReward(scaledVal);
     }
 
 //    //Add new rewards

Project/Assets/ML-Agents/Examples/Walker/Prefabs/DynamicPlatformWalker.prefab

   m_EditorClassIdentifier: 
   rewardsList:
   - rewardKey: matchSpeed
-    rewardScalar: 0.01
+    rawVal: 0
+    rewardScalar: 0.03
+    rawVal: 0
     rewardScalar: 0.01
     rewardThisStep: 0
     cumulativeThisEpisode: 0
-    rewardScalar: 0.005
+    rawVal: 0
+    rewardScalar: 0
-    rewardScalar: 1
+    rawVal: 0
+    rewardScalar: 0
     rewardThisStep: 0
     cumulativeThisEpisode: 0
     cumulativeThisSession: 0
         type: 3}
       propertyPath: m_Model
       value: 
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         type: 3}
     - target: {fileID: 895268871377934297, guid: 765582efd9dda46ed98564603316353f,
         type: 3}

Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerDynamic.unity

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 --- !u!4 &6065910099080495282 stripped

Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs

         // a. Match target speed
         //This reward will approach 1 if it matches and approach zero as it deviates
         matchSpeedReward =
-            Mathf.Exp(-0.1f * (orientationCube.transform.forward * walkingSpeed -
+            Mathf.Exp(-0.1f * (cubeForward * walkingSpeed -
+//        lookAtTargetReward =
+//            Mathf.Exp(-0.1f * (cubeForward * walkingSpeed -
+//                               m_JdController.bodyPartsDict[hips].rb.velocity).sqrMagnitude);
-            ((head.position.y - footL.position.y) + (head.position.y - footR.position.y) / 10); //Should normalize to ~1
+            (((head.position.y - footL.position.y) + (head.position.y - footR.position.y))/ 10); //Should normalize to ~1
 //        AddReward(
 //            +0.02f * moveTowardsTargetReward
 //            + 0.01f * lookAtTargetReward

Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDynamic Hurry Pen.nn.meta

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