The human mode initializes pygame and renders what the car is doing to the screen, There are two types of render mode available, The default parameters for the diamond are: sensor_array_params = 20 # number of rows/columns in the sensor sensor_array_params = 10 # spacing between the dots Render modes The default parameters for the lidar are: sensor_array_params = 7 # number of rays per side sensor_array_params = 15 # distance between sensors along a ray sensor_array_params = 20 # number of sensors along a ray sensor_array_params = 70 # angle to sweep left/right make ( 'racer-v0', sensor_array_type = sat, sensor_array_params = sensor_array_params, ) The observation type can be set by passing it in the call to gym.make, and the default parameters can be overridden by passing a sensor_array_params dict: sat = 'lidar' # default # sat = 'diamond' racer_env = gym. diamond with shape (n, n): a square of sensors, with a corner on the car.lidar with shape (n): a lidar with n rays, each element indicates the first sensor out of the road.There are two types of observation possible:

The reward is mainly related to the direction along the street, then multiplied by the speed of the car squared. The action space is a combination of two discrete action spaces: 1) accelerate: NOOP, UP, DOWN

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