Readme and comments and reward pdated

readme was outdated env rewards got a penalty for standing still while it should move instead of 0 reward
2026-09-13 13:28:24 +02:00
parent 0fe0a8697f
commit 14251aa415
8 changed files with 380 additions and 163 deletions
@@ -1,5 +1,10 @@
 """
-ml/pretrain_bc.py - Behavioral Cloning from Kinematics Teacher
+ml/pretrain_bc.py - Behavioral Cloning teacher-data pipeline.
+
+This script collects observation/action pairs from the kinematics solver, then uses
+those pairs as training data for a PPO policy. In practice it serves as a teacher-
+student pretraining step: the kinematics controller generates sample trajectories, and
+this file teaches the policy to imitate those behavior patterns before PPO training.
 """
 import sys
 import time