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The high-level policy was trained without changelane maneuver but with immediatestop maneuver. Two problems remain: 1) the agent chooses changelane maneuver too frequently; 2) before the stop region, immediatestop maneuver works but was not chosen property after 2.5m the high-level policy training...

Each low level policy was retrained with better LTL conditions and rewards, some parts of which are also designed to encourage exploration (to prevent the vehicle from being stopped all the time).

Formatting

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Final test

See merge request !2

update doc, scripts (from bitbucket)

See merge request !1

version 1.0.0

See merge request !1