עיצוב פרס רווח אופטימלי: מקרה מבחן חניה אוטונומית

תקציר מקורי באנגליתarXiv:2607.23617v1 Announce Type: new Abstract: Designing effective reward functions for model-free reinforcement learning under non-holonomic constraints remains a persistent challenge, often resulting in severe local minima such as policy paralysis or over-conservative hazard avoidance. In this work, we present a parameterized reward shaping framework featuring coverage-gated alignment feedback, drive-direction switch regularization, and an aligned episode termination mechanism evaluated on an autonomous parallel parking task. Crucially, we show that environmental reward parameters and algorithmic hyperparameters are deeply co-dependent, requiring joint meta-optimization to achieve stable convergence. By employing surrogate-based Bayesian optimization, our co-optimized Deep Q-Network (DQ