This environment consists in a car with mass m moving along a one-dimensional environment. In this environment, the agent moves its position in an horizontal axis x, limited to an interval of [−1.5π, 0.5π]. Each horizontal position represents a point in an environment with two mountains, whose height is defined as y = 0.55 + 0.45 sin(3x). The velocity in the horizontal axis is updated each time step as v(t + 1) = v(t) + 0.001a − 0.0025 cos(3x), where a is the action of the motor which can be either −1, 0, 1, impulsing the car with a force F = ma. The inputs Ii fed to the sensor units are defined as an array of 4 units, which are assigned the instantaneous velocity of the car discretized into an array of 4 bits. Each input Ii is assigned a value of 1 if its corresponding bit is active and −1 otherwise.