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* -1 When ball enters team's goal. |
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* -0.001 Existential penalty. |
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* Behavior Parameters: |
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* Vector Observation space: 384 corresponding to 11 ray-casts forward distributed over 120 degrees (264) |
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and 5 ray-casts backward distributed over 180 degrees each detecting 6 possible object types, along with the object's distance. |
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The forward ray-casts contribute 264 state dimensions and backward 120 state dimensions. |
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* Vector Observation space: 336 corresponding to 11 ray-casts forward distributed over 120 degrees (264) |
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and 3 ray-casts backward distributed over 90 degrees each detecting 6 possible object types, along with the object's distance. |
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The forward ray-casts contribute 264 state dimensions and backward 72 state dimensions. |
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* Vector Action space: (Discrete) Three branched actions corresponding to forward, backward, sideways movement, |
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as well as rotation. |
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* Visual Observations: None |
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