bensons gets mental pain from existing

Assets/Scripts/AgentController.cs

@@ -126,11 +126,16 @@ public class AgentController : Agent
         if (actions.DiscreteActions[1] == 1)
             hInput = 1f;
 
+        // reward for going forward
+
         if (vInput == 1f)
         {
             AddReward(0.001f);
         }
 
+        // give benson mental pain for existing (punishment for maximizing first checkpoint by standing still)
+        AddReward(-0.002f);
+
         float forwardSpeed = Vector3.Dot(transform.forward, rigidBody.velocity);
 
 
@@ -269,10 +274,19 @@ public class AgentController : Agent
         return distanceToCheckpoint;
     }
 
+    // punishment for hitting a wall
+    private void OnCollisionEnter(Collision other) {
+        if (other.gameObject.tag == "Wall")
+        {
+            AddReward(-0.05f);
+        }
+    }
+
+    // punishment for staying at a wall
     private void OnCollisionStay(Collision other) {
         if (other.gameObject.tag == "Wall")
         {
-            AddReward(-0.01f);
+            AddReward(-0.005f);
         }
     }
 }