Table 4.

Hyperparameters for robot driving.

Algorithm Setup Hyper-Parameters
Actor/Critic learning rate	0.001
Reward discount factor $\delta$	0.9
Soft replacement $\tau$	0.001
Batch size	32
Running episodes	500
Steps per episode	200
Memory capacity	15,000
Updates	episodes × steps
Angle factor $\alpha$	0.5
Distance factor $\beta$	0.5
TSC factor $\gamma$	20
Control cycle (s)	0.125