constants.txt

// How to use:
// Begin with type (bool, int, int32, float supported)
// Space after type, name, = (ie bool networkDebug = true;)
// Anything after semicolon in a single line is discarded
// Empty lines are discarded
// Semicolon is required.
// Constant name has to match its counterpart in Controller.hpp exactly.
// Constants don't have to be in any particular order.
// Line that begins with '/' is comment

bool networkDebug = false;		// print network to console
bool carDebug = false;         // manual driving
bool fastForward = false;     // faster learning
bool writeActionsToFile = true;	// car driving history; overwrites existing history files

int numberOfVisionLines = 5;
int fieldOfView = 90;

//***** Simulation constants *****/
float timeStep = 1.0f / 60.0f;  //the duration of one frame (60 FPS)
int velocityIterations = 1;   //how strongly to correct velocity (was 8)
int positionIterations = 1;   //how strongly to correct position (was 3)

//***** Network building related constants *****/
float nodeInitLow = -0.1;						// Randomized initial node weights are between these
float nodeInitHigh = 0.1;

//***** Action-space search and learning-related constants *****/
int learningMode = 1;							// Which weight adjustment algorithm to use. Supported modes: 0 (no learning), 1 (racist gradient descent).
bool useSig = false;							// Whether to use sigmoid functions in network evaluation.
float defaultStepSize = 0.004; 				// Learning rate; multiplies learned outcome's impact on network node weights
float actionDepth = 3; 						// How many variations of acceleration/turning values to test. Primary performance impact in network eval. Up to ~80 should be manageable.
float discountFactor = 0.8; 					// [0.0f, 1.0f); importance of "later" vs "now", with higher values increasing the impact of "now"

float minExplorationCoefficient = 1.0;		// Don't touch.
float explorationCoefficientDecrease = 0.01;
float prevWeightCoefficient = 0.1;			// How large impact the previous weight's magnitude has in learning
float prevValueCoefficient = 1.0;				// How important the previous value of a node is. Closer to 1 means "keep it the same" and closer to  0 means "discard old value; make radical changes into the targets"
float rewardMultiplier = 2.0;					// Multiplier on reward values to prevent crashing from overflows.
float qvalueMultiplier = 1.0;					// Don't adjust unless the program crashes. Might make learning very buggy. Seek guidance from Esa and Simo first. You can not parse HTML with regex.

//***** Reward function coefficients, see reward in Controller::takeStep() *****/
float timeToFitnessMultiplier = 1.2;			// Unused. Fitness function balancing multiplier.
float wallPenalty = -40.0;					// Reward penalty for hitting a wall.
float prevVelocityCoefficient = 0.87;			// Reward multiplier for increasing speed vs going fast. Higher value means that increasing car speed is good. Only [0.0f, 1.0f] are sensible.
float velocityMultiplier = 0.0003;			// Multiplier for increasing float accuracy to reduce out of bounds exceptions.