risk_biased/config/planning_config.py

# Tracking Cost Parameters
tracking_cost_scale_longitudinal = 1e-2
tracking_cost_scale_lateral = 1e-0
tracking_cost_reduce = "mean"

# Cross Entropy Solver Parameters
num_control_samples = 100
num_elite = 30
iter_max = 10
smoothing_factor = 0.2
mean_warm_start = True
acceleration_std_x_m_s2 = 2.0
acceleration_std_y_m_s2 = 0.0