Article review - minor fixes #2
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suren-atoyan
commented
Feb 8, 2025
| The robot is encouraged to maintain a desired height as specified by the commanded altitude. A penalty is applied for deviations from this target height: | ||
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| $$ | ||
| R_{z} = (z - z_{ref})^2 |
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This was a bit confusing, as the reward should be bigger when the robot is at the desired height, and smaller when it deviates from it. So, I think, we either need to change the formula (e.g.
| - $z_{ref}$ is the target height specified in the commands. | ||
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| #### 4. **Pose Similarity Reward** | ||
| #### 4. **Pose Deviation Penalty** |
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Here, I also changed the title to keep the consistency with the formula.
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Thanks for the great article 🙌