I think the issue with goals - energy used is that it requires tuning to make sure that completing goals is better than just idling. A variant that might w

I think the issue with goals - energy used is that it requires tuning to make sure that completing goals is better than just idling. A variant that might work better is to optimize "mileage". goals / (energy used + epsilon) Where epsilon has two purposes: it prevents division by zero, and ensures that more goals is (marginally) better than less