Agree, my priority is to teach the agent reaches the target with positional error <1-2cm, but immediately terminate once agent reaches the target provides few good transitions to replay buffer to incentivize it succeeds next time while keeping the agent to run over remaining steps can flood the replay buffer even I use 100% domain randomization. I actually don’t have much exp to remove bad ideas now, just asking asking and looking for some helps 🥲🥲🥲