text: def reward_function(params):
      '''
      Example to penalize an incorrect steering angle, which helps mitigate zig-zag behaviors
      '''
      
      # Read input parameters
      distance_from_center = params['distance_from_center']
      track_width = params['track_width']
      steering = abs(params['steering_angle']) # Only need the absolute steering angle
  
      # Calculate 3 marks that are farther and father away from the center line
      marker_1 = 0.1 * track_width
      marker_2 = 0.25 * track_width
      marker_3 = 0.5 * track_width
  
      # Give higher reward if the car is closer to center line and vice versa
      if distance_from_center <= marker_1:
          reward = 1.0
      elif distance_from_center <= marker_2:
          reward = 0.5
      elif distance_from_center <= marker_3:
          reward = 0.1
      else:
          reward = 1e-3  # likely crashed/ close to off track
  
      # Steering penality threshold, change the number based on your action space setting
      ABS_STEERING_THRESHOLD = 15 
  
      # Penalize if the car is steering too much
      if steering > ABS_STEERING_THRESHOLD:
          reward *= 0.8
  
      return float(reward)
  