trained. looks like rowing

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/GroundContact.cs

@@ -29,7 +29,9 @@ namespace Unity.MLAgentsExamples
                 touchingGround = true;
                 if (penalizeGroundContact)
                 {
-                    agent.SetReward(groundContactPenalty);
+                    agent.AddReward(groundContactPenalty);
+                    // agent.AddReward(groundContactPenalty/(agent.MaxStep/5));
+                    // agent.SetReward(groundContactPenalty);
                 }
 
                 if (agentDoneOnGroundContact)

Project/Assets/ML-Agents/Examples/Walker/Prefabs/Platforms/Platform.prefab

@@ -417,6 +417,11 @@ PrefabInstance:
       propertyPath: m_RayLayerMask.m_Bits
       value: 576
       objectReference: {fileID: 0}
+    - target: {fileID: 3599283674160848331, guid: dd62a2a5a838943fba3d2cbb377a75b3,
+        type: 3}
+      propertyPath: agentDoneOnGroundContact
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 3599283674250582713, guid: dd62a2a5a838943fba3d2cbb377a75b3,
         type: 3}
       propertyPath: m_Mass
@@ -427,6 +432,16 @@ PrefabInstance:
       propertyPath: m_Mass
       value: 8
       objectReference: {fileID: 0}
+    - target: {fileID: 3599283674258174711, guid: dd62a2a5a838943fba3d2cbb377a75b3,
+        type: 3}
+      propertyPath: agentDoneOnGroundContact
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3599283674353725471, guid: dd62a2a5a838943fba3d2cbb377a75b3,
+        type: 3}
+      propertyPath: agentDoneOnGroundContact
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 3599283674695887336, guid: dd62a2a5a838943fba3d2cbb377a75b3,
         type: 3}
       propertyPath: m_IsActive
@@ -437,6 +452,11 @@ PrefabInstance:
       propertyPath: m_RayLayerMask.m_Bits
       value: 576
       objectReference: {fileID: 0}
+    - target: {fileID: 3599283674701520976, guid: dd62a2a5a838943fba3d2cbb377a75b3,
+        type: 3}
+      propertyPath: agentDoneOnGroundContact
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 3599283674701520978, guid: dd62a2a5a838943fba3d2cbb377a75b3,
         type: 3}
       propertyPath: m_Mass
@@ -447,6 +467,21 @@ PrefabInstance:
       propertyPath: m_Mass
       value: 7
       objectReference: {fileID: 0}
+    - target: {fileID: 3599283674879403207, guid: dd62a2a5a838943fba3d2cbb377a75b3,
+        type: 3}
+      propertyPath: agentDoneOnGroundContact
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3599283674929991235, guid: dd62a2a5a838943fba3d2cbb377a75b3,
+        type: 3}
+      propertyPath: agentDoneOnGroundContact
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3599283675061353162, guid: dd62a2a5a838943fba3d2cbb377a75b3,
+        type: 3}
+      propertyPath: agentDoneOnGroundContact
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 3599283675061353172, guid: dd62a2a5a838943fba3d2cbb377a75b3,
         type: 3}
       propertyPath: m_Mass
@@ -462,6 +497,11 @@ PrefabInstance:
       propertyPath: m_IsActive
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 3599283675242808011, guid: dd62a2a5a838943fba3d2cbb377a75b3,
+        type: 3}
+      propertyPath: agentDoneOnGroundContact
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 3599283675341015702, guid: dd62a2a5a838943fba3d2cbb377a75b3,
         type: 3}
       propertyPath: m_IsActive
@@ -477,6 +517,11 @@ PrefabInstance:
       propertyPath: m_IsActive
       value: 1
       objectReference: {fileID: 0}
+    - target: {fileID: 3599283675594846473, guid: dd62a2a5a838943fba3d2cbb377a75b3,
+        type: 3}
+      propertyPath: agentDoneOnGroundContact
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 3599283675615088288, guid: dd62a2a5a838943fba3d2cbb377a75b3,
         type: 3}
       propertyPath: jointDampen
@@ -496,7 +541,7 @@ PrefabInstance:
         type: 3}
       propertyPath: m_Model
       value: 
-      objectReference: {fileID: 5022602860645237092, guid: bc3c6e6725474413795733032966183a,
+      objectReference: {fileID: 5022602860645237092, guid: 82348ca2df8fb4f1d80ba8962118b34f,
         type: 3}
     - target: {fileID: 3599283675615088295, guid: dd62a2a5a838943fba3d2cbb377a75b3,
         type: 3}
@@ -508,16 +553,31 @@ PrefabInstance:
       propertyPath: m_Mass
       value: 5
       objectReference: {fileID: 0}
+    - target: {fileID: 3599283675835168082, guid: dd62a2a5a838943fba3d2cbb377a75b3,
+        type: 3}
+      propertyPath: agentDoneOnGroundContact
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 3599283675835168092, guid: dd62a2a5a838943fba3d2cbb377a75b3,
         type: 3}
       propertyPath: m_Mass
       value: 7
       objectReference: {fileID: 0}
+    - target: {fileID: 3599283675894408087, guid: dd62a2a5a838943fba3d2cbb377a75b3,
+        type: 3}
+      propertyPath: agentDoneOnGroundContact
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 3599283676061639783, guid: dd62a2a5a838943fba3d2cbb377a75b3,
         type: 3}
       propertyPath: m_Mass
       value: 3
       objectReference: {fileID: 0}
+    - target: {fileID: 3599283676062257936, guid: dd62a2a5a838943fba3d2cbb377a75b3,
+        type: 3}
+      propertyPath: agentDoneOnGroundContact
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 3925309372585159072, guid: dd62a2a5a838943fba3d2cbb377a75b3,
         type: 3}
       propertyPath: m_RootOrder

Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs

@@ -285,6 +285,14 @@ public class WalkerAgent : Agent
         return Mathf.Pow(1 - Mathf.Pow(velDeltaMagnitude / MTargetWalkingSpeed, 2), 2);
     }
 
+    /// <summary>
+    /// Penalize for touching ground
+    /// </summary>
+    public void TouchedGroundPenalty()
+    {
+        AddReward(1f);
+    }
+
     /// <summary>
     /// Agent touched the target
     /// </summary>

Project/Assets/ML-Agents/Examples/Walker/TFModels/rays/weak/no reset.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: de2807e39b1004d8299e19f4a1ee97ef
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Walker/TFModels/rays/weak/no reset/Walker.onnx.meta

@@ -0,0 +1,16 @@
+fileFormatVersion: 2
+guid: 96f544effb3d4499eb33b55985e6ab2a
+ScriptedImporter:
+  internalIDToNameTable: []
+  externalObjects: {}
+  serializedVersion: 2
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 683b6cb6d0a474744822c888b46772c9, type: 3}
+  optimizeModel: 1
+  forceArbitraryBatchSize: 1
+  treatErrorsAsWarnings: 0
+  importMode: 1
+  weightsTypeMode: 0
+  activationTypeMode: 0

config/ppo/Walker.yaml

@@ -20,7 +20,7 @@ behaviors:
         gamma: 0.995
         strength: 1.0
     keep_checkpoints: 5
-    max_steps: 40000000
+    max_steps: 30000000
     time_horizon: 1000
     summary_freq: 30000
     threaded: true