TRACKMANIARL / SYSTEM GUIDE / 07 Understand the reward signal The scalar reward combines ordinary terms with two separately reported shaping terms. 01 Ordinary reward 02 Progress PBRS 03 Pace PBRS Base terms Time + progressMotion + terminal terms Progress potential Rewards changes inprogress potential. Pace potential Clipped time debtReference lap Total reward = ordinary + progress shaping + pace shaping RewardResult keeps the named terms and diagnostics alongside the scalar learner reward. On ordinary transitions reward_gamma must match training.gamma. On terminal transitions Use the absorbing zero potential for bothshaping terms. INTERPRETATIONDirect distance progress remains an ordinary reward term. It is distinct from progress PBRS. Terminaldiagnostics do not add the base finish reward twice.