why was the command for backward velocity not included?

Hello author,

I have a question regarding the training configuration: why was the command for backward velocity not included?

In my own experiments, I added this command along with some corresponding reward functions. I found that the robot is indeed capable of moving backward, as well as translating and rotating. However, its overall performance is slightly inferior.

Could you please share the reasoning behind excluding the backward velocity command? Does including it negatively affect the robot's ability to learn to traverse obstacles?

No files or tests are named. Start by locating the training configuration and the command and reward definitions referenced in the issue, then compare the included velocity commands with the reported backward-velocity experiment. Done means documenting whether backward commands were intentionally excluded and how inclusion affects obstacle traversal and overall performance.

Written by the indexing model from the issue text.