Waypoint Rewards related issue

[tanaysharma94]

I am not able to find where are the waypoint rewards smoothly penalized based on the distance as written in the paper. I see that the orientation and speeds are interpolated while calculating the waypoint rewards but I do not see any processing related to penalizing based on the distance down to a value of 0.

It will be very helpful if somebody can point me in the right direction. Thanks