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diff --git a/Assets/Scripts/AgentController.cs b/Assets/Scripts/AgentController.cs
index 76c509e..53e8ecd 100644
--- a/Assets/Scripts/AgentController.cs
+++ b/Assets/Scripts/AgentController.cs
@@ -79,10 +79,9 @@ public class AgentController : Agent
                 break;
             }
         }
+        float checkpointAngle = angleToCheckpoint(currentCheckpoint);
 
-        float checkpointDistance = distanceToCheckpoint(currentCheckpoint);
-
-        sensor.AddObservation(checkpointDistance);
+        sensor.AddObservation(checkpointAngle);
 
         // Agent velocity
         var FullVelocityMagnitude = rigidBody.velocity.magnitude; // Velocity including angular velocity
@@ -126,11 +125,16 @@ 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);
 
 
@@ -219,17 +223,13 @@ public class AgentController : Agent
 
         if (checkpintDistance < 0.1f)
         {
-            Debug.Log(currentCheckpoint.name);
-
             currentCheckpoint.GetComponent<Checkpoint>().isCollected = true;
             stepsSinceCheckpoint = 0;
 
             if (currentCheckpoint == checkpoints[checkpoints.Count - 1].transform)
             {
                 AddReward(10f);
-                EndEpisode();
-
-                Debug.Log("END");                
+                EndEpisode();           
             }
             AddReward(1.0f);
         }
@@ -262,6 +262,7 @@ public class AgentController : Agent
             discreteActionsOut[1] = 1;
     }
 
+    // finds distance from agent to closest point on the checkpoint line
     float distanceToCheckpoint(Transform checkpoint)
     {
         var closestPoint = checkpoint.GetComponent<Collider>().ClosestPointOnBounds(transform.position);
@@ -269,10 +270,28 @@ public class AgentController : Agent
         return distanceToCheckpoint;
     }
 
+    // find angle from agent to middle of checkpoint line.
+    float angleToCheckpoint(Transform checkpoint)
+    {
+        Vector3 checkpointDirection = checkpoint.localPosition - transform.localPosition;
+
+        float angle = Vector3.SignedAngle(transform.forward, checkpointDirection, Vector3.up);
+        return angle;
+    }
+
+    // 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);
         }
     }
 }
\ No newline at end of file