I have been doing some testing with the climbing simulation. Is there a way to make it so it will try move both horizontally and vertically evenly? Seems like as it progresses it will favor extending out vertically way more than horizontal if it is capable and eventually learn to fully stretch out and topple over instead of trying to climb.
Edit to better explain:
Seems the way it works right now if it moves higher or to the right it rewards itself but it would make more sense to only reward if it moves both higher and to the right because the end goal is for it to go diagonally up the stairs.