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Merge branch 'main' of https://github.com/sisl/InteractionImitation into main

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Arec Jamgochian
2022-02-27 14:30:32 -08:00
parent e52b658aff 25e4d5679f
commit 2cacdf691f
1 changed files with 3 additions and 3 deletions
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6
bc-experiment.py
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@@ -44,7 +44,7 @@ def training_function(config):
np.random.seed(config['seed']) np.random.seed(config['seed'])
torch.manual_seed(config['seed']) torch.manual_seed(config['seed'])
env = Setobs(TransformObservation(CollisionPenaltyWrapper( envs = [Setobs(TransformObservation(CollisionPenaltyWrapper(
IntersimpleLidarFlatRandom( IntersimpleLidarFlatRandom(
n_rays=5, n_rays=5,
reward=functools.partial( reward=functools.partial(
@@ -55,8 +55,8 @@ def training_function(config):
stop_on_collision=config['trainenv']['stop_on_collision'], stop_on_collision=config['trainenv']['stop_on_collision'],
), collision_distance=6, collision_penalty=100), ), collision_distance=6, collision_penalty=100),
lambda obs: (obs - obs_min) / (obs_max - obs_min + 1e-10) lambda obs: (obs - obs_min) / (obs_max - obs_min + 1e-10)
)) )) for _ in range(60)]
env_fn = lambda i: env env_fn = lambda i: envs[i]
# load expert data # load expert data