[RL-baseline] Model v3, experiment #3

[ziritrion]

Policy network is almost identical to v2, but we removed the final FCL from the main network and added a new one to both the actor and the critic to allow them to learn more.

We also tweaked the actions compared to the experiments with v2. The main difference is that a new no-move action was added to allow the network to use the car's momentum. Here is the action list for this experiment:

[0.0, 0.0, 0.0], # no action
[0.0, 0.8, 0.0], # throttle
[0.0, 0.0, 0.6], # break
[-0.9, 0.0, 0.0], # left
[0.9, 0.0, 0.0], # right

Around the 10k episode mark, the entropy collapsed and never recovered. Running reward managed to stay positive up until past the 15k mark, where it finally collapsed to very low numbers. Results are below:

Sample video below:
https://user-images.githubusercontent.com/1465235/112736341-4b660700-8f52-11eb-9d19-a1b73e30ec89.mp4